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diff --git a/fridge_7/running_log.log b/fridge_7/running_log.log
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@@ -11173,3 +11173,5035 @@
 	[open_close_planner_policy.py: 225]
 05/10 04:29:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
 05/10 04:29:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:29:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:29:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:29:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:29:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:29:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:29:55 INFO: [Worker 0] Worker 0 house 1 episode 35 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:29:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:30:17 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:30:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 04:30:17 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/10 04:30:23 INFO: [Worker 0] Worker 0 house 1 episode 37 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:30:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 04:30:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 04:30:28 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.19s (batch: 3.74s, save: 7.45s)	[pipeline.py: 300]
+05/10 04:30:29 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.61s:
+  episode_total: mean=172.03s, total=172.03s, count=1, min=172027.5ms, max=172027.5ms
+  sensor_polling: mean=458.5ms, total=127.47s, count=278, min=405.9ms, max=740.8ms
+  save_trajectories: mean=7.45s, total=7.45s, count=1, min=7449.1ms, max=7449.1ms
+  physics_step: mean=20.9ms, total=5.81s, count=278, min=16.6ms, max=40.2ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3738.8ms, max=3738.8ms
+  task_sampling: mean=611.3ms, total=611.3ms, count=1, min=611.3ms, max=611.3ms
+  task_specific_sample: mean=606.3ms, total=606.3ms, count=1, min=606.3ms, max=606.3ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=510.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 04:30:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:30:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:30:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:30:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:30:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:30:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:30:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:30:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:30:31 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 04:30:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:30:31 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 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024793m	[env.py: 870]
+05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:30:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.115409    1.03275735  0.02479261] yaw=-145.0deg	[env.py: 1019]
+05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85462186  0.04784836  0.02479261] yaw=161.2deg	[env.py: 1019]
+05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95550346  0.87192308  0.02479261] yaw=-160.9deg	[env.py: 1019]
+05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:30:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.5ms, total=174.5ms	[env.py: 1075]
+05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.115, 1.033, 0.025)	[env.py: 1079]
+05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.0 deg	[env.py: 1082]
+05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
+05/10 04:30:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:30:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:30:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:30:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:30:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:30:31 INFO: [Worker 0] Worker 0 house 1 episode 36/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:30:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:30:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:30:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:30:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:30:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.734s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:30:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.392[m] 85.117[deg]	[grasp_sample.py: 539]
+05/10 04:30:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:30:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:30:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:30:43 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:30:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 04:30:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:30:54 INFO: [Worker 0] Worker 0 house 1 episode 36 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:30:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 04:30:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 04:30:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.10s (batch: 3.58s, save: 7.52s)	[pipeline.py: 300]
+05/10 04:30:54 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.49s:
+  episode_total: mean=178.56s, total=178.56s, count=1, min=178561.3ms, max=178561.3ms
+  sensor_polling: mean=453.4ms, total=136.03s, count=300, min=390.9ms, max=879.2ms
+  save_trajectories: mean=7.52s, total=7.52s, count=1, min=7520.3ms, max=7520.3ms
+  physics_step: mean=22.6ms, total=6.77s, count=300, min=13.6ms, max=73.2ms
+  save_batch_prep: mean=3.58s, total=3.58s, count=1, min=3576.4ms, max=3576.4ms
+  task_sampling: mean=493.6ms, total=493.6ms, count=1, min=493.6ms, max=493.6ms
+  task_specific_sample: mean=490.0ms, total=490.0ms, count=1, min=490.0ms, max=490.0ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=387.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.2us, 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 04:30:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:30:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:30:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:30:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:30:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:30:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:30:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 04:30:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:30:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018485m	[env.py: 870]
+05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:30:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82645479  0.32445108 -0.01848502] yaw=175.5deg	[env.py: 1019]
+05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90967239  1.18163316 -0.01848502] yaw=-149.0deg	[env.py: 1019]
+05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7611884   0.11610308 -0.01848502] yaw=169.6deg	[env.py: 1019]
+05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:30:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=244.5ms, total=244.5ms	[env.py: 1075]
+05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.826, 0.324, -0.018)	[env.py: 1079]
+05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.5 deg	[env.py: 1082]
+05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
+05/10 04:30:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:30:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:30:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:30:56 INFO: [Worker 0] Worker 0 house 1 episode 38/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:30:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:30:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:30:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:30:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.110s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:30:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.823s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:30:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.434[m] 84.441[deg]	[grasp_sample.py: 539]
+05/10 04:30:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:30:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:30:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:31:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:31:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:31:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:31:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:31:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:31:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:31:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:31:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:31:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:31:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 04:31:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 04:31:12 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 04:31:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:31:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:31:13 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.383s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:31:13 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.506[deg]	[grasp_sample.py: 539]
+05/10 04:31:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:31:13 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:31:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 04:31:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:31:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:31:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:31:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:31:17 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/10 04:31:17 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.40s:
+  episode_total: mean=166.82s, total=166.82s, count=1, min=166824.7ms, max=166824.7ms
+  sensor_polling: mean=442.2ms, total=132.67s, count=300, min=382.1ms, max=680.4ms
+  physics_step: mean=19.6ms, total=5.87s, count=300, min=14.5ms, max=49.6ms
+  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3942.3ms, max=3942.3ms
+  task_sampling: mean=398.8ms, total=398.8ms, count=1, min=398.8ms, max=398.8ms
+  task_specific_sample: mean=395.8ms, total=395.8ms, count=1, min=395.8ms, max=395.8ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=377.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 04:31:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:31:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:31:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:31:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:31:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:31:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:31:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:31:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:31:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:31:19 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 04:31:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:31:19 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 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020877m	[env.py: 870]
+05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:31:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7812189   0.02348631 -0.02087722] yaw=145.5deg	[env.py: 1019]
+05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76943514  0.02522351 -0.02087722] yaw=163.1deg	[env.py: 1019]
+05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90010722  0.32423285 -0.02087722] yaw=175.9deg	[env.py: 1019]
+05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:31:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.7ms, total=206.7ms	[env.py: 1075]
+05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.781, 0.023, -0.021)	[env.py: 1079]
+05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.5 deg	[env.py: 1082]
+05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
+05/10 04:31:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:31:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:31:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:31:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:31:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:31:19 INFO: [Worker 0] Worker 0 house 1 episode 37/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:31:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:31:19 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 04:31:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:31:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:31:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:31:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.392s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:31:21 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.624[m] 97.163[deg]	[grasp_sample.py: 539]
+05/10 04:31:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:31:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:31:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:31:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:31:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:31:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:31:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:31:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:32:04 INFO: [Worker 0] Worker 0 house 1 episode 33 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:32:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:32:23 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:32:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 04:32:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:32:28 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/10 04:32:28 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.45s:
+  episode_total: mean=193.67s, total=193.67s, count=1, min=193674.7ms, max=193674.7ms
+  sensor_polling: mean=438.8ms, total=131.63s, count=300, min=391.0ms, max=789.6ms
+  physics_step: mean=20.4ms, total=6.11s, count=300, min=12.4ms, max=36.7ms
+  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4147.4ms, max=4147.4ms
+  task_sampling: mean=451.0ms, total=451.0ms, count=1, min=451.0ms, max=451.0ms
+  task_specific_sample: mean=447.5ms, total=447.5ms, count=1, min=447.5ms, max=447.5ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=392.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.3us, 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 04:32:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:32:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:32:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:32:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:32:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:32:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:32:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:32:29 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 04:32:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:32:29 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 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004838m	[env.py: 870]
+05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:32:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93610178  0.98306409 -0.00483831] yaw=-137.3deg	[env.py: 1019]
+05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.85335073  1.02096049 -0.00483831] yaw=-144.2deg	[env.py: 1019]
+05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:32:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.2ms, total=198.2ms	[env.py: 1075]
+05/10 04:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.936, 0.983, -0.005)	[env.py: 1079]
+05/10 04:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg	[env.py: 1082]
+05/10 04:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/10 04:32:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:32:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:32:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:32:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:32:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:32:30 INFO: [Worker 0] Worker 0 house 1 episode 34/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:32:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:32:30 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 04:32:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:32:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:32:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.609s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:32:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.460[m] 84.169[deg]	[grasp_sample.py: 539]
+05/10 04:32:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:32:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:32:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:32:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:32:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:32:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:32:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:32:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:32:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:32:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:32:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:32:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:32:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 04:32:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 04:32:45 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 04:32:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:32:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:32:46 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.624s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:32:46 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.277[deg]	[grasp_sample.py: 539]
+05/10 04:32:48 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 04:32:48 WARNING: [Worker 0] Asset Fridge_7_upside_down (hash: a079a499003c75f24f76325cf35d2986) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/10 04:32:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:32:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:32:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:32:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:32:49 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 04:32:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:32:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034541m	[env.py: 870]
+05/10 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:32:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07117747  1.14636185  0.03454059] yaw=-135.1deg	[env.py: 1019]
+05/10 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82096617  0.50716355  0.03454059] yaw=-182.7deg	[env.py: 1019]
+05/10 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70767647  0.25316769  0.03454059] yaw=162.1deg	[env.py: 1019]
+05/10 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:32:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.1ms, total=201.1ms	[env.py: 1075]
+05/10 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.071, 1.146, 0.035)	[env.py: 1079]
+05/10 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.1 deg	[env.py: 1082]
+05/10 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/10 04:32:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:32:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:32:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:32:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:32:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:32:50 INFO: [Worker 0] Worker 0 house 1 episode 37/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:32:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:32:50 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 04:32:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:32:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:32:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.927s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:32:54 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.458[m] 87.504[deg]	[grasp_sample.py: 539]
+05/10 04:32:55 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 04:32:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:32:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:32:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:32:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:32:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:32:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:32:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:32:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:32:57 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 04:32:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:32:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027909m	[env.py: 870]
+05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:32:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01823034  1.09963945 -0.02790881] yaw=-140.6deg	[env.py: 1019]
+05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7752867   0.20971788 -0.02790881] yaw=164.9deg	[env.py: 1019]
+05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04119797  0.82525215 -0.02790881] yaw=-152.1deg	[env.py: 1019]
+05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:32:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.7ms, total=133.7ms	[env.py: 1075]
+05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.018, 1.100, -0.028)	[env.py: 1079]
+05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.6 deg	[env.py: 1082]
+05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
+05/10 04:32:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:32:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:32:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:32:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:32:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:32:58 INFO: [Worker 0] Worker 0 house 1 episode 38/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:32:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:32:58 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 04:32:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:32:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:32:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.625s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:32:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.514[m] 86.878[deg]	[grasp_sample.py: 539]
+05/10 04:33:00 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 04:33:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:33:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:33:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:33:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:33:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:33:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:33:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:33:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:33:02 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 04:33:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:33:02 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 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004759m	[env.py: 870]
+05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:33:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93519037  0.2381039   0.00475855] yaw=153.0deg	[env.py: 1019]
+05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:33:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=170.8ms, total=170.8ms	[env.py: 1075]
+05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 0.238, 0.005)	[env.py: 1079]
+05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.0 deg	[env.py: 1082]
+05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
+05/10 04:33:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:33:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:33:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:33:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:33:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:33:03 INFO: [Worker 0] Worker 0 house 1 episode 39/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:33:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:33:03 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 04:33:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:33:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:33:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.496s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:33:03 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.379[m] 92.362[deg]	[grasp_sample.py: 539]
+05/10 04:33:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:33:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:33:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:33:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:33:25 INFO: [Worker 0] Worker 0 house 1 episode 38 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:33:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:33:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:33:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:33:50 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:33:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 04:33:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:33:54 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/10 04:33:54 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=0.56s:
+  episode_total: mean=178.21s, total=178.21s, count=1, min=178213.7ms, max=178213.7ms
+  sensor_polling: mean=455.7ms, total=136.71s, count=300, min=396.6ms, max=837.8ms
+  physics_step: mean=22.7ms, total=6.81s, count=300, min=15.8ms, max=62.2ms
+  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4438.7ms, max=4438.7ms
+  task_sampling: mean=558.8ms, total=558.8ms, count=1, min=558.8ms, max=558.8ms
+  task_specific_sample: mean=555.2ms, total=555.2ms, count=1, min=555.2ms, max=555.2ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=404.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 04:33:55 INFO: [Worker 0] Worker 0 house 1 episode 37 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:33:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:33:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:33:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:33:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:33:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:33:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:33:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:33:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 04:33:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:33:56 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 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021868m	[env.py: 870]
+05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:33:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.161873    1.04750376  0.02186815] yaw=-125.9deg	[env.py: 1019]
+05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.013925    0.2657451   0.02186815] yaw=151.5deg	[env.py: 1019]
+05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:33:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=372.2ms, total=372.2ms	[env.py: 1075]
+05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.162, 1.048, 0.022)	[env.py: 1079]
+05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.9 deg	[env.py: 1082]
+05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m	[env.py: 1086]
+05/10 04:33:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:33:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:33:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:33:57 INFO: [Worker 0] Worker 0 house 1 episode 39/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:33:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:33:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:33:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:33:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:33:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.671s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:33:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.360[m] 87.280[deg]	[grasp_sample.py: 539]
+05/10 04:33:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:33:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:33:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:34:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:34:21 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:34:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 04:34:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:34:26 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/10 04:34:26 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.46s:
+  episode_total: mean=187.30s, total=187.30s, count=1, min=187301.2ms, max=187301.2ms
+  sensor_polling: mean=482.6ms, total=144.78s, count=300, min=417.6ms, max=1023.1ms
+  physics_step: mean=22.6ms, total=6.77s, count=300, min=13.4ms, max=64.9ms
+  save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4908.6ms, max=4908.6ms
+  task_sampling: mean=460.1ms, total=460.1ms, count=1, min=460.1ms, max=460.1ms
+  task_specific_sample: mean=456.9ms, total=456.9ms, count=1, min=456.9ms, max=456.9ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=372.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 04:34:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:34:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:34:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:34:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:34:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:34:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:34:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:34:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:34:28 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 04:34:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:34:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043272m	[env.py: 870]
+05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:34:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7602615   0.86559234 -0.04327156] yaw=-151.2deg	[env.py: 1019]
+05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84292433  0.12903314 -0.04327156] yaw=149.7deg	[env.py: 1019]
+05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73685672  0.74358077 -0.04327156] yaw=-173.3deg	[env.py: 1019]
+05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:34:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.3ms, total=178.4ms	[env.py: 1075]
+05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.760, 0.866, -0.043)	[env.py: 1079]
+05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.2 deg	[env.py: 1082]
+05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
+05/10 04:34:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:34:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:34:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:34:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:34:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:34:28 INFO: [Worker 0] Worker 0 house 1 episode 38/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:34:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:34:28 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 04:34:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:34:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:34:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.269s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:34:33 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.572[m] 78.287[deg]	[grasp_sample.py: 539]
+05/10 04:34:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:34:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:34:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:34:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:34:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:34:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:35:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:35:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:35:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:35:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:35:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:35:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:35:16 INFO: [Worker 0] Worker 0 house 1 episode 34 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:35:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:35:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:35:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 04:35:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 04:35:19 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 04:35:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:35:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:35:20 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.431s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:35:20 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.242[deg]	[grasp_sample.py: 539]
+05/10 04:35:21 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 04:35:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:35:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:35:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:35:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:35:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:35:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 04:35:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:35:23 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 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009124m	[env.py: 870]
+05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:35:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97850339  0.69335103 -0.00912389] yaw=-168.8deg	[env.py: 1019]
+05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84617597  0.64291696 -0.00912389] yaw=-160.2deg	[env.py: 1019]
+05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:35:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=266.2ms, total=266.3ms	[env.py: 1075]
+05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.979, 0.693, -0.009)	[env.py: 1079]
+05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.8 deg	[env.py: 1082]
+05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.754m	[env.py: 1086]
+05/10 04:35:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:35:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:35:23 INFO: [Worker 0] Worker 0 house 1 episode 40/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:35:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:35:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:35:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:35:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:35:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.500s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:35:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.365[m] 92.796[deg]	[grasp_sample.py: 539]
+05/10 04:35:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:35:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:35:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:35:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:35:39 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:35:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 04:35:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:35:43 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/10 04:35:43 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.53s:
+  episode_total: mean=194.14s, total=194.14s, count=1, min=194144.0ms, max=194144.0ms
+  sensor_polling: mean=513.2ms, total=153.96s, count=300, min=432.6ms, max=928.8ms
+  physics_step: mean=26.2ms, total=7.85s, count=300, min=15.9ms, max=129.7ms
+  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4571.7ms, max=4571.7ms
+  task_sampling: mean=527.0ms, total=527.0ms, count=1, min=527.0ms, max=527.0ms
+  task_specific_sample: mean=523.2ms, total=523.2ms, count=1, min=523.2ms, max=523.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=465.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 04:35:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:35:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:35:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:35:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:35:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:35:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:35:45 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 04:35:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:35:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 04:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044123m	[env.py: 870]
+05/10 04:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:35:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:35:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=183.8ms, total=183.8ms	[env.py: 1105]
+05/10 04:35:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/10 04:35:45 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/10 04:35:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:35:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:35:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:35:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:35:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:35:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:35:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:35:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 04:35:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:35:47 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 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031125m	[env.py: 870]
+05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:35:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78163144  0.33893799 -0.03112475] yaw=173.2deg	[env.py: 1019]
+05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95393312  0.34377065 -0.03112475] yaw=158.3deg	[env.py: 1019]
+05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07790333  0.93175611 -0.03112475] yaw=-153.4deg	[env.py: 1019]
+05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:35:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.8ms, total=110.8ms	[env.py: 1075]
+05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.339, -0.031)	[env.py: 1079]
+05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.2 deg	[env.py: 1082]
+05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/10 04:35:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:35:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:35:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:35:48 INFO: [Worker 0] Worker 0 house 1 episode 36/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:35:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:35:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:35:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:35:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:35:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.515s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:35:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.499[m] 92.517[deg]	[grasp_sample.py: 539]
+05/10 04:35:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:35:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:35:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:35:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:36:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:36:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:36:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:36:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:36:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:36:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:36:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:36:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:36:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:36:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:36:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:36:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 04:36:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 04:36:34 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 04:36:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:36:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:36:36 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.718s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:36:36 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.322[deg]	[grasp_sample.py: 539]
+05/10 04:36:37 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 04:36:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:36:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:36:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:36:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:36:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:36:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:36:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 04:36:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:36:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003148m	[env.py: 870]
+05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:36:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01660783  0.72583803 -0.00314816] yaw=-159.8deg	[env.py: 1019]
+05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6376516   0.42688461 -0.00314816] yaw=172.1deg	[env.py: 1019]
+05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78504529  0.4613146  -0.00314816] yaw=174.4deg	[env.py: 1019]
+05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:36:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.0ms, total=110.1ms	[env.py: 1075]
+05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.017, 0.726, -0.003)	[env.py: 1079]
+05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.8 deg	[env.py: 1082]
+05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.728m	[env.py: 1086]
+05/10 04:36:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:36:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:36:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:36:39 INFO: [Worker 0] Worker 0 house 1 episode 40/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:36:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:36:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:36:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:36:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:36:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.542s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:36:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.335[m] 96.522[deg]	[grasp_sample.py: 539]
+05/10 04:36:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:36:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:36:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:36:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:36:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:36:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:37:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:37:19 INFO: [Worker 0] Worker 0 house 1 episode 38 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:37:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:37:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:37:43 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:37:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 04:37:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:37:48 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/10 04:37:48 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=0.48s:
+  episode_total: mean=200.30s, total=200.30s, count=1, min=200300.2ms, max=200300.2ms
+  sensor_polling: mean=519.0ms, total=155.69s, count=300, min=464.1ms, max=974.5ms
+  physics_step: mean=24.0ms, total=7.21s, count=300, min=16.7ms, max=93.6ms
+  save_batch_prep: mean=4.97s, total=4.97s, count=1, min=4965.2ms, max=4965.2ms
+  task_sampling: mean=482.2ms, total=482.2ms, count=1, min=482.2ms, max=482.2ms
+  task_specific_sample: mean=478.0ms, total=478.0ms, count=1, min=478.0ms, max=478.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=474.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 04:37:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:37:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:37:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:37:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:37:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:37:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:37:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 04:37:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:37:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048603m	[env.py: 870]
+05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:37:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98847865  1.18845165  0.04860311] yaw=-131.6deg	[env.py: 1019]
+05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86014376  0.76974781  0.04860311] yaw=-172.5deg	[env.py: 1019]
+05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:37:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=228.7ms, total=228.7ms	[env.py: 1075]
+05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.988, 1.188, 0.049)	[env.py: 1079]
+05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.6 deg	[env.py: 1082]
+05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m	[env.py: 1086]
+05/10 04:37:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:37:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:37:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:37:50 INFO: [Worker 0] Worker 0 house 1 episode 39/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:37:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:37:50 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 04:37:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:37:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:37:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.782s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:37:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.571[m] 94.312[deg]	[grasp_sample.py: 539]
+05/10 04:37:53 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 04:37:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:37:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:37:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:37:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:37:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 04:37:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:37:55 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 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001901m	[env.py: 870]
+05/10 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:37:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.08669152  1.22434244 -0.00190056] yaw=-125.1deg	[env.py: 1019]
+05/10 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90033396  0.6924005  -0.00190056] yaw=-175.1deg	[env.py: 1019]
+05/10 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77377577  0.12559437 -0.00190056] yaw=150.1deg	[env.py: 1019]
+05/10 04:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:37:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.7ms, total=160.7ms	[env.py: 1075]
+05/10 04:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.087, 1.224, -0.002)	[env.py: 1079]
+05/10 04:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.1 deg	[env.py: 1082]
+05/10 04:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/10 04:37:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:37:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:37:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:37:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:37:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:37:56 INFO: [Worker 0] Worker 0 house 1 episode 40/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:37:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:37:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:37:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:37:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:37:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.813s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:37:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.557[m] 92.637[deg]	[grasp_sample.py: 539]
+05/10 04:37:59 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 04:38:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:38:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:38:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:38:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:38:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:38:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:38:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:38:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:38:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 04:38:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:38:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.030m, effective arm-mount z=0.830m (base_body_z=-0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030359m	[env.py: 870]
+05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:38:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88780737  0.71214112 -0.03035905] yaw=-153.1deg	[env.py: 1019]
+05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9994654   0.97875488 -0.03035905] yaw=-137.6deg	[env.py: 1019]
+05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.16104108  1.10333771 -0.03035905] yaw=-132.3deg	[env.py: 1019]
+05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:38:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=295.2ms, total=295.2ms	[env.py: 1075]
+05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.888, 0.712, -0.030)	[env.py: 1079]
+05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.1 deg	[env.py: 1082]
+05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
+05/10 04:38:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:38:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:38:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:38:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:38:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:38:01 INFO: [Worker 0] Worker 0 house 1 episode 41/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:38:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:38:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:38:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:38:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:38:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.681s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:38:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.436[m] 85.437[deg]	[grasp_sample.py: 539]
+05/10 04:38:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:38:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:38:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:38:08 INFO: [Worker 0] Worker 0 house 1 episode 40 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:38:35 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:38:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 04:38:35 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
+05/10 04:38:39 INFO: [Worker 0] Worker 0 house 1 episode 36 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:38:41 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/10 04:38:41 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=2.28s:
+  episode_total: mean=96.69s, total=483.46s, count=5, min=3310.3ms, max=198266.0ms
+  sensor_polling: mean=493.9ms, total=378.35s, count=766, min=381.7ms, max=1165.4ms
+  physics_step: mean=22.8ms, total=17.49s, count=766, min=16.1ms, max=89.1ms
+  save_batch_prep: mean=5.58s, total=5.58s, count=1, min=5580.5ms, max=5580.5ms
+  task_sampling: mean=456.6ms, total=2.28s, count=5, min=393.8ms, max=552.2ms
+  task_specific_sample: mean=453.1ms, total=2.27s, count=5, min=389.2ms, max=549.2ms
+  scene_randomize: mean=1.7ms, total=8.7ms, count=5, min=1.3ms, max=2.4ms
+  mj_forward_sync: mean=489.3us, total=2.4ms, count=5, min=0.5ms, max=0.6ms
+  policy_setup: mean=18.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 04:38:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:38:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:38:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:38:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:38:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:38:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:38:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:38:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:38:43 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 04:38:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:38:43 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 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013516m	[env.py: 870]
+05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:38:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.68097606  0.37768227  0.01351642] yaw=176.2deg	[env.py: 1019]
+05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14037665  1.07136216  0.01351642] yaw=-122.7deg	[env.py: 1019]
+05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79267697  0.53611186  0.01351642] yaw=-166.4deg	[env.py: 1019]
+05/10 04:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:38:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=283.5ms, total=283.6ms	[env.py: 1075]
+05/10 04:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.681, 0.378, 0.014)	[env.py: 1079]
+05/10 04:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.2 deg	[env.py: 1082]
+05/10 04:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
+05/10 04:38:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:38:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:38:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:38:44 INFO: [Worker 0] Worker 0 house 1 episode 41/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:38:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:38:44 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 04:38:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:38:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:38:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.805s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:38:45 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.605[m] 96.343[deg]	[grasp_sample.py: 539]
+05/10 04:38:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:38:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:38:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:38:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:39:04 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:39:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 04:39:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:39:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:39:09 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/10 04:39:09 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.42s:
+  episode_total: mean=101.03s, total=202.05s, count=2, min=194.2ms, max=201858.6ms
+  sensor_polling: mean=532.1ms, total=159.64s, count=300, min=473.8ms, max=860.2ms
+  physics_step: mean=25.1ms, total=7.53s, count=300, min=17.1ms, max=57.3ms
+  save_batch_prep: mean=4.93s, total=4.93s, count=1, min=4926.3ms, max=4926.3ms
+  task_specific_sample: mean=302.8ms, total=605.5ms, count=2, min=189.1ms, max=416.5ms
+  task_sampling: mean=419.8ms, total=419.8ms, count=1, min=419.8ms, max=419.8ms
+  task_sampling_failed: mean=194.1ms, total=194.1ms, count=1, min=194.1ms, max=194.1ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.5ms, max=2.3ms
+  mj_forward_sync: mean=459.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.4us, 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 04:39:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:39:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:39:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:39:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:39:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:39:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:39:11 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 04:39:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:39:11 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 04:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036352m	[env.py: 870]
+05/10 04:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:39:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03332088  0.75946002 -0.03635203] yaw=-165.7deg	[env.py: 1019]
+05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93261254  0.67528063 -0.03635203] yaw=-168.9deg	[env.py: 1019]
+05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:39:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=498.7ms, total=498.8ms	[env.py: 1075]
+05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.033, 0.759, -0.036)	[env.py: 1079]
+05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.7 deg	[env.py: 1082]
+05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.724m	[env.py: 1086]
+05/10 04:39:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:39:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:39:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:39:12 INFO: [Worker 0] Worker 0 house 1 episode 37/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:39:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.185s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:39:12 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 04:39:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:39:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:39:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:39:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.779s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:39:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.265[m] 78.562[deg]	[grasp_sample.py: 539]
+05/10 04:39:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:39:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:39:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:39:28 INFO: [Worker 0] Worker 0 house 1 episode 40 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:39:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:39:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:39:56 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:39:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 04:39:56 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
+05/10 04:40:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:40:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:40:01 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/10 04:40:02 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=1.12s:
+  episode_total: mean=181.94s, total=363.88s, count=2, min=160817.9ms, max=203064.9ms
+  sensor_polling: mean=533.6ms, total=294.54s, count=552, min=469.6ms, max=1049.4ms
+  physics_step: mean=26.1ms, total=14.39s, count=552, min=16.3ms, max=96.0ms
+  save_batch_prep: mean=5.31s, total=5.31s, count=1, min=5307.0ms, max=5307.0ms
+  task_sampling: mean=559.7ms, total=1.12s, count=2, min=414.5ms, max=704.9ms
+  task_specific_sample: mean=556.0ms, total=1.11s, count=2, min=411.1ms, max=701.0ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.3ms, max=2.6ms
+  mj_forward_sync: mean=444.5us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.3us, 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 04:40:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:40:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:40:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:40:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:40:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:40:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:40:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:40:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:40:04 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 04:40:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:40:04 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 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012452m	[env.py: 870]
+05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:40:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77781945  0.69053559 -0.01245242] yaw=-169.4deg	[env.py: 1019]
+05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04037157  0.94187857 -0.01245242] yaw=-155.0deg	[env.py: 1019]
+05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74240389  0.0405018  -0.01245242] yaw=151.1deg	[env.py: 1019]
+05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:40:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=164.1ms, total=164.2ms	[env.py: 1075]
+05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.778, 0.691, -0.012)	[env.py: 1079]
+05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.4 deg	[env.py: 1082]
+05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
+05/10 04:40:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:40:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:40:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:40:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:40:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:40:05 INFO: [Worker 0] Worker 0 house 1 episode 41/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:40:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:40:05 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 04:40:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:40:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:40:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.385s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:40:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.536[m] 93.279[deg]	[grasp_sample.py: 539]
+05/10 04:40:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:40:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:40:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:40:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:40:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:41:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:41:11 INFO: [Worker 0] Worker 0 house 1 episode 41 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:41:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:41:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:41:36 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:41:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 04:41:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:41:48 INFO: [Worker 0] Worker 0 house 1 episode 41 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:41:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 04:41:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 04:41:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.61s (batch: 5.20s, save: 9.41s)	[pipeline.py: 300]
+05/10 04:41:52 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=1.56s:
+  episode_total: mean=79.44s, total=238.33s, count=3, min=3516.6ms, max=231193.6ms
+  sensor_polling: mean=583.9ms, total=175.16s, count=300, min=472.9ms, max=1096.4ms
+  save_trajectories: mean=9.41s, total=9.41s, count=1, min=9407.2ms, max=9407.2ms
+  physics_step: mean=28.8ms, total=8.64s, count=300, min=16.5ms, max=115.0ms
+  save_batch_prep: mean=5.20s, total=5.20s, count=1, min=5202.5ms, max=5202.5ms
+  task_sampling: mean=518.4ms, total=1.56s, count=3, min=450.2ms, max=573.6ms
+  task_specific_sample: mean=514.9ms, total=1.54s, count=3, min=446.8ms, max=570.7ms
+  scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.4ms, max=2.8ms
+  mj_forward_sync: mean=454.8us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.9us, 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 04:41:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:41:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:41:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:41:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:41:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:41:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:41:54 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 04:41:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:41:54 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 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017585m	[env.py: 870]
+05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:41:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83783149  0.23512615  0.01758527] yaw=164.8deg	[env.py: 1019]
+05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.61361462  0.39794099  0.01758527] yaw=171.3deg	[env.py: 1019]
+05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98908766  0.67828585  0.01758527] yaw=-175.3deg	[env.py: 1019]
+05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:41:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=298.1ms, total=298.1ms	[env.py: 1075]
+05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.838, 0.235, 0.018)	[env.py: 1079]
+05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.8 deg	[env.py: 1082]
+05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/10 04:41:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:41:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:41:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:41:55 INFO: [Worker 0] Worker 0 house 1 episode 42/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:41:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:41:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:41:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:41:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:41:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.506s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:41:55 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.432[m] 78.531[deg]	[grasp_sample.py: 539]
+05/10 04:41:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:41:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:41:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:42:00 INFO: [Worker 0] Worker 0 house 1 episode 37 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:42:12 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:42:12 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 04:42:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:42:21 INFO: [Worker 0] Saved videos eagerly for episode 29 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:42:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 04:42:21 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
+05/10 04:42:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 04:42:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 04:42:25 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.46s (batch: 4.67s, save: 8.80s)	[pipeline.py: 300]
+05/10 04:42:26 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.67s:
+  episode_total: mean=222.54s, total=222.54s, count=1, min=222542.9ms, max=222542.9ms
+  sensor_polling: mean=565.2ms, total=169.57s, count=300, min=470.3ms, max=1056.7ms
+  physics_step: mean=29.4ms, total=8.82s, count=300, min=19.4ms, max=120.0ms
+  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8796.7ms, max=8796.7ms
+  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4666.3ms, max=4666.3ms
+  task_sampling: mean=672.7ms, total=672.7ms, count=1, min=672.7ms, max=672.7ms
+  task_specific_sample: mean=667.7ms, total=667.7ms, count=1, min=667.7ms, max=667.7ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=715.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=24.6us, 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 04:42:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:42:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:42:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:42:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:42:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:42:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:42:28 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 04:42:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:42:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036384m	[env.py: 870]
+05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:42:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71971796  0.06526203  0.03638373] yaw=147.6deg	[env.py: 1019]
+05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81802352  0.44353125  0.03638373] yaw=180.2deg	[env.py: 1019]
+05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:42:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=441.7ms, total=441.8ms	[env.py: 1075]
+05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.720, 0.065, 0.036)	[env.py: 1079]
+05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.6 deg	[env.py: 1082]
+05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/10 04:42:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:42:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:42:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:42:28 INFO: [Worker 0] Worker 0 house 1 episode 42/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:42:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:42:28 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 04:42:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:42:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:42:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.283s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:42:32 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.598[m] 82.666[deg]	[grasp_sample.py: 539]
+05/10 04:42:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:42:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:42:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:42:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 04:42:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 04:42:36 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.91s (batch: 4.21s, save: 10.71s)	[pipeline.py: 300]
+05/10 04:42:36 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.82s:
+  episode_total: mean=204.98s, total=204.98s, count=1, min=204984.6ms, max=204984.6ms
+  sensor_polling: mean=569.1ms, total=154.78s, count=272, min=467.1ms, max=1060.8ms
+  save_trajectories: mean=10.71s, total=10.71s, count=1, min=10708.4ms, max=10708.4ms
+  physics_step: mean=29.1ms, total=7.93s, count=272, min=19.8ms, max=130.2ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4205.8ms, max=4205.8ms
+  task_sampling: mean=823.7ms, total=823.7ms, count=1, min=823.7ms, max=823.7ms
+  task_specific_sample: mean=819.2ms, total=819.2ms, count=1, min=819.2ms, max=819.2ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=556.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 04:42:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:42:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:42:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:42:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:42:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:42:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:42:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:42:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:42:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 04:42:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:42:38 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 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011600m	[env.py: 870]
+05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:42:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94120111  1.19530646  0.01160005] yaw=-142.7deg	[env.py: 1019]
+05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94370271  0.93210746  0.01160005] yaw=-155.7deg	[env.py: 1019]
+05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.64241899  0.45007783  0.01160005] yaw=168.9deg	[env.py: 1019]
+05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:42:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.9ms, total=206.9ms	[env.py: 1075]
+05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 1.195, 0.012)	[env.py: 1079]
+05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.7 deg	[env.py: 1082]
+05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/10 04:42:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:42:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:42:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:42:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:42:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:42:39 INFO: [Worker 0] Worker 0 house 1 episode 38/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:42:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:42:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:42:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:42:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:42:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:42:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.340s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:42:43 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.634[m] 87.774[deg]	[grasp_sample.py: 539]
+05/10 04:42:45 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 04:42:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:42:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:42:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:42:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:42:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:42:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:42:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:42:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:42:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 04:42:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:42:46 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 04:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048026m	[env.py: 870]
+05/10 04:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:42:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94991259  0.15724789 -0.04802606] yaw=157.1deg	[env.py: 1019]
+05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65545961  0.74270169 -0.04802606] yaw=-172.8deg	[env.py: 1019]
+05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:42:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=343.8ms, total=343.9ms	[env.py: 1075]
+05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.950, 0.157, -0.048)	[env.py: 1079]
+05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.1 deg	[env.py: 1082]
+05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/10 04:42:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:42:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:42:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:42:47 INFO: [Worker 0] Worker 0 house 1 episode 39/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:42:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:42:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:42:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:42:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:42:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.305s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:42:49 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.375[m] 83.574[deg]	[grasp_sample.py: 539]
+05/10 04:42:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:42:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:42:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:42:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:42:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:43:04 INFO: [Worker 0] Worker 0 house 1 episode 41 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:43:32 INFO: [Worker 0] Saved videos eagerly for episode 29 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:43:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 04:43:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:43:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:43:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:43:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:43:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 04:43:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 04:43:49 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.27s (batch: 6.00s, save: 10.27s)	[pipeline.py: 300]
+05/10 04:43:49 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.53s:
+  episode_total: mean=225.24s, total=225.24s, count=1, min=225242.0ms, max=225242.0ms
+  sensor_polling: mean=550.9ms, total=165.28s, count=300, min=464.6ms, max=999.1ms
+  save_trajectories: mean=10.27s, total=10.27s, count=1, min=10267.8ms, max=10267.8ms
+  physics_step: mean=26.5ms, total=7.96s, count=300, min=19.0ms, max=115.7ms
+  save_batch_prep: mean=6.00s, total=6.00s, count=1, min=5997.4ms, max=5997.4ms
+  task_sampling: mean=527.7ms, total=527.7ms, count=1, min=527.7ms, max=527.7ms
+  task_specific_sample: mean=514.0ms, total=514.0ms, count=1, min=514.0ms, max=514.0ms
+  scene_randomize: mean=7.2ms, total=7.2ms, count=1, min=7.2ms, max=7.2ms
+  mj_forward_sync: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 04:43:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:43:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:43:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:43:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:43:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:43:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:43:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:43:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:43:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 04:43:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:43:51 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 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045175m	[env.py: 870]
+05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:43:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93321918  0.27359767 -0.0451745 ] yaw=169.2deg	[env.py: 1019]
+05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69415037  0.60905662 -0.0451745 ] yaw=-182.9deg	[env.py: 1019]
+05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:43:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=383.2ms, total=383.2ms	[env.py: 1075]
+05/10 04:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.933, 0.274, -0.045)	[env.py: 1079]
+05/10 04:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.2 deg	[env.py: 1082]
+05/10 04:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.797m	[env.py: 1086]
+05/10 04:43:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:43:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:43:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:43:52 INFO: [Worker 0] Worker 0 house 1 episode 42/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:43:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:43:52 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 04:43:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:43:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:43:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:43:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.940s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:43:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.383[m] 93.292[deg]	[grasp_sample.py: 539]
+05/10 04:43:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:43:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:43:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:43:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:44:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:44:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:44:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:44:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:44:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:44:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:44:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:44:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:44:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:44:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 04:44:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 04:44:35 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 04:44:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:44:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:44:35 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.751s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:44:35 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.105[deg]	[grasp_sample.py: 539]
+05/10 04:44:37 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 04:44:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:44:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:44:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:44:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:44:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:44:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:44:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 04:44:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:44:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000471m	[env.py: 870]
+05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:44:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09122741e+00  9.43362356e-01  4.71402162e-04] yaw=-133.9deg	[env.py: 1019]
+05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03244193e+00  6.94991994e-01  4.71402162e-04] yaw=-164.9deg	[env.py: 1019]
+05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06621554e+00  1.09711463e+00  4.71402162e-04] yaw=-135.9deg	[env.py: 1019]
+05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:44:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=339.6ms, total=339.6ms	[env.py: 1075]
+05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.091, 0.943, 0.000)	[env.py: 1079]
+05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.9 deg	[env.py: 1082]
+05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
+05/10 04:44:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:44:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:44:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:44:40 INFO: [Worker 0] Worker 0 house 1 episode 43/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:44:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:44:40 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 04:44:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:44:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:44:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.822s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:44:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.368[m] 91.352[deg]	[grasp_sample.py: 539]
+05/10 04:44:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:44:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:44:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:44:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:44:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:44:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:45:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:45:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:45:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:45:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:45:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:45:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:45:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:45:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:45:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:45:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:45:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:45:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:45:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:45:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:45:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:45:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 04:45:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 04:45:37 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 04:45:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:45:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:45:38 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.069s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:45:38 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.324[deg]	[grasp_sample.py: 539]
+05/10 04:45:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:45:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:45:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:45:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:45:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:45:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:45:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:45:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 04:45:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 04:45:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:45:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:45:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:45:43 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.484s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:45:43 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.207[deg]	[grasp_sample.py: 539]
+05/10 04:45:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:45:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:45:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:45:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:45:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:45:52 INFO: [Worker 0] Worker 0 house 1 episode 42 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:46:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:46:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:46:19 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:46:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 04:46:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:46:22 INFO: [Worker 0] Worker 0 house 1 episode 39 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:46:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 04:46:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 04:46:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.71s (batch: 4.80s, save: 9.91s)	[pipeline.py: 300]
+05/10 04:46:34 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=0.77s:
+  episode_total: mean=246.52s, total=246.52s, count=1, min=246522.1ms, max=246522.1ms
+  sensor_polling: mean=570.1ms, total=171.03s, count=300, min=472.6ms, max=948.5ms
+  save_trajectories: mean=9.91s, total=9.91s, count=1, min=9910.5ms, max=9910.5ms
+  physics_step: mean=28.4ms, total=8.51s, count=300, min=18.6ms, max=113.4ms
+  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4796.0ms, max=4796.0ms
+  task_sampling: mean=771.2ms, total=771.2ms, count=1, min=771.2ms, max=771.2ms
+  task_specific_sample: mean=762.4ms, total=762.4ms, count=1, min=762.4ms, max=762.4ms
+  mj_forward_sync: mean=4.7ms, total=4.7ms, count=1, min=4.7ms, max=4.7ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 04:46:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:46:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:46:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:46:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:46:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:46:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:46:36 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 04:46:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:46:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030137m	[env.py: 870]
+05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:46:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83056048  0.52176021  0.03013694] yaw=-185.8deg	[env.py: 1019]
+05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01442526  0.66715754  0.03013694] yaw=-172.2deg	[env.py: 1019]
+05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:46:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.5ms, total=215.5ms	[env.py: 1075]
+05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.831, 0.522, 0.030)	[env.py: 1079]
+05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.8 deg	[env.py: 1082]
+05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m	[env.py: 1086]
+05/10 04:46:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:46:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:46:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:46:36 INFO: [Worker 0] Worker 0 house 1 episode 43/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:46:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:46:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:46:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:46:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:46:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.498s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:46:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.462[m] 95.179[deg]	[grasp_sample.py: 539]
+05/10 04:46:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:46:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:46:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:46:46 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:46:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 04:46:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:47:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 04:47:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 04:47:01 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.92s (batch: 4.77s, save: 10.15s)	[pipeline.py: 300]
+05/10 04:47:01 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=1.24s:
+  episode_total: mean=130.62s, total=261.24s, count=2, min=6352.8ms, max=254888.1ms
+  sensor_polling: mean=576.3ms, total=172.89s, count=300, min=480.3ms, max=1016.1ms
+  save_trajectories: mean=10.15s, total=10.15s, count=1, min=10147.3ms, max=10147.3ms
+  physics_step: mean=29.5ms, total=8.84s, count=300, min=19.2ms, max=135.3ms
+  save_batch_prep: mean=4.77s, total=4.77s, count=1, min=4768.0ms, max=4768.0ms
+  task_sampling: mean=622.1ms, total=1.24s, count=2, min=602.7ms, max=641.4ms
+  task_specific_sample: mean=618.1ms, total=1.24s, count=2, min=597.8ms, max=638.4ms
+  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.2ms, max=3.3ms
+  mj_forward_sync: mean=486.9us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 04:47:01 INFO: [Worker 0] Worker 0 house 1 episode 42 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:47:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:47:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:47:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:47:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:47:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:47:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:47:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:47:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:47:03 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 04:47:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:47:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037491m	[env.py: 870]
+05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:47:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0830431   1.10468114  0.03749101] yaw=-133.3deg	[env.py: 1019]
+05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05185446  0.97003138  0.03749101] yaw=-143.0deg	[env.py: 1019]
+05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78947994  0.33455291  0.03749101] yaw=174.2deg	[env.py: 1019]
+05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:47:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.8ms, total=106.8ms	[env.py: 1075]
+05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.083, 1.105, 0.037)	[env.py: 1079]
+05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.3 deg	[env.py: 1082]
+05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
+05/10 04:47:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:47:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:47:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:47:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:47:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:47:04 INFO: [Worker 0] Worker 0 house 1 episode 40/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:47:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:47:04 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 04:47:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:47:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:47:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.195s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:47:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.455[m] 95.608[deg]	[grasp_sample.py: 539]
+05/10 04:47:06 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 04:47:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:47:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:47:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:47:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:47:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 04:47:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:47:08 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 04:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031326m	[env.py: 870]
+05/10 04:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:47:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69062488  0.0687461  -0.03132611] yaw=154.2deg	[env.py: 1019]
+05/10 04:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87336386  0.18639947 -0.03132611] yaw=160.5deg	[env.py: 1019]
+05/10 04:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99629134  0.75650505 -0.03132611] yaw=-158.0deg	[env.py: 1019]
+05/10 04:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:47:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=329.9ms, total=330.0ms	[env.py: 1075]
+05/10 04:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.069, -0.031)	[env.py: 1079]
+05/10 04:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.2 deg	[env.py: 1082]
+05/10 04:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m	[env.py: 1086]
+05/10 04:47:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:47:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:47:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:47:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:47:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:47:09 INFO: [Worker 0] Worker 0 house 1 episode 41/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:47:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:47:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:47:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:47:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:47:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.432s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:47:13 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.651[m] 88.869[deg]	[grasp_sample.py: 539]
+05/10 04:47:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:47:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:47:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:47:30 INFO: [Worker 0] Worker 0 house 1 episode 43 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:47:30 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:47:30 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 04:47:30 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/10 04:47:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:47:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:47:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 04:47:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 04:47:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.25s (batch: 5.18s, save: 10.07s)	[pipeline.py: 300]
+05/10 04:47:46 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=0.70s:
+  episode_total: mean=234.99s, total=234.99s, count=1, min=234994.0ms, max=234994.0ms
+  sensor_polling: mean=556.9ms, total=166.52s, count=299, min=472.7ms, max=899.9ms
+  save_trajectories: mean=10.07s, total=10.07s, count=1, min=10069.7ms, max=10069.7ms
+  physics_step: mean=29.4ms, total=8.80s, count=299, min=20.1ms, max=102.3ms
+  save_batch_prep: mean=5.18s, total=5.18s, count=1, min=5182.5ms, max=5182.5ms
+  task_sampling: mean=698.1ms, total=698.1ms, count=1, min=698.1ms, max=698.1ms
+  task_specific_sample: mean=694.2ms, total=694.2ms, count=1, min=694.2ms, max=694.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=423.1us, 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 04:47:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:47:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:47:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:47:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:47:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:47:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:47:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:47:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 04:47:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:47:48 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 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011432m	[env.py: 870]
+05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:47:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03196644  1.02882313 -0.01143163] yaw=-142.8deg	[env.py: 1019]
+05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85240562  0.85533248 -0.01143163] yaw=-166.0deg	[env.py: 1019]
+05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99286131  0.54132593 -0.01143163] yaw=-170.8deg	[env.py: 1019]
+05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:47:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.7ms, total=149.8ms	[env.py: 1075]
+05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.032, 1.029, -0.011)	[env.py: 1079]
+05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.8 deg	[env.py: 1082]
+05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/10 04:47:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:47:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:47:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:47:48 INFO: [Worker 0] Worker 0 house 1 episode 43/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:47:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:47:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:47:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:47:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:47:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.631s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:47:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.459[m] 90.444[deg]	[grasp_sample.py: 539]
+05/10 04:47:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:47:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:47:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:47:58 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:47:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 04:47:58 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
+05/10 04:48:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 04:48:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 04:48:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.69s (batch: 5.02s, save: 11.66s)	[pipeline.py: 300]
+05/10 04:48:15 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=1.27s:
+  episode_total: mean=189.75s, total=379.50s, count=2, min=163102.8ms, max=216401.9ms
+  sensor_polling: mean=549.0ms, total=293.72s, count=535, min=455.0ms, max=966.7ms
+  physics_step: mean=26.8ms, total=14.36s, count=535, min=19.1ms, max=122.7ms
+  save_trajectories: mean=11.66s, total=11.66s, count=1, min=11664.6ms, max=11664.6ms
+  save_batch_prep: mean=5.02s, total=5.02s, count=1, min=5024.2ms, max=5024.2ms
+  task_sampling: mean=633.6ms, total=1.27s, count=2, min=610.9ms, max=656.3ms
+  task_specific_sample: mean=629.6ms, total=1.26s, count=2, min=606.9ms, max=652.4ms
+  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.8ms, max=2.7ms
+  mj_forward_sync: mean=505.4us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 04:48:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:48:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:48:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:48:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:48:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:48:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:48:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:48:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:48:17 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 04:48:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:48:17 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 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015809m	[env.py: 870]
+05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:48:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01525683  0.90754999 -0.0158092 ] yaw=-150.9deg	[env.py: 1019]
+05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90723485  0.08224699 -0.0158092 ] yaw=152.1deg	[env.py: 1019]
+05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95975183  0.7245671  -0.0158092 ] yaw=-168.8deg	[env.py: 1019]
+05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:48:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.8ms, total=87.8ms	[env.py: 1075]
+05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.015, 0.908, -0.016)	[env.py: 1079]
+05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.9 deg	[env.py: 1082]
+05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
+05/10 04:48:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:48:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:48:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:48:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:48:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:48:18 INFO: [Worker 0] Worker 0 house 1 episode 44/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:48:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:48:18 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 04:48:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:48:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:48:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.655s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:48:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.339[m] 77.525[deg]	[grasp_sample.py: 539]
+05/10 04:48:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:48:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:48:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:48:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:48:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:48:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:48:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:48:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:48:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:48:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:49:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:49:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:49:35 INFO: [Worker 0] Worker 0 house 1 episode 43 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:50:08 INFO: [Worker 0] Saved videos eagerly for episode 29 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:50:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 04:50:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:50:21 INFO: [Worker 0] Worker 0 house 1 episode 41 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:50:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 04:50:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 04:50:25 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.56s (batch: 5.54s, save: 11.02s)	[pipeline.py: 300]
+05/10 04:50:25 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=0.53s:
+  episode_total: mean=229.45s, total=229.45s, count=1, min=229454.3ms, max=229454.3ms
+  sensor_polling: mean=550.3ms, total=165.08s, count=300, min=466.2ms, max=968.2ms
+  save_trajectories: mean=11.02s, total=11.02s, count=1, min=11024.3ms, max=11024.3ms
+  physics_step: mean=29.6ms, total=8.88s, count=300, min=17.1ms, max=133.1ms
+  save_batch_prep: mean=5.54s, total=5.54s, count=1, min=5540.4ms, max=5540.4ms
+  task_sampling: mean=525.8ms, total=525.8ms, count=1, min=525.8ms, max=525.8ms
+  task_specific_sample: mean=521.7ms, total=521.7ms, count=1, min=521.7ms, max=521.7ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=430.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 04:50:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:50:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:50:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:50:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:50:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:50:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:50:27 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 04:50:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:50:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045914m	[env.py: 870]
+05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:50:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87074606  0.43119577 -0.04591368] yaw=187.3deg	[env.py: 1019]
+05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76538088  0.82101223 -0.04591368] yaw=-159.8deg	[env.py: 1019]
+05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04133145  0.18244201 -0.04591368] yaw=154.6deg	[env.py: 1019]
+05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:50:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.1ms, total=119.2ms	[env.py: 1075]
+05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.431, -0.046)	[env.py: 1079]
+05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 187.3 deg	[env.py: 1082]
+05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
+05/10 04:50:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:50:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:50:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:50:28 INFO: [Worker 0] Worker 0 house 1 episode 44/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:50:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:50:28 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 04:50:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:50:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:50:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:50:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.404[m] 88.647[deg]	[grasp_sample.py: 539]
+05/10 04:50:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:50:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:50:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:50:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:50:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:50:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:50:50 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:50:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 04:50:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:50:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:50:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:50:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:50:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:50:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:50:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 04:50:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 04:50:58 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 04:50:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:50:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:51:00 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.758s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:51:00 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.250[deg]	[grasp_sample.py: 539]
+05/10 04:51:02 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 04:51:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:51:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:51:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:51:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:51:04 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 04:51:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:51:04 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 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006554m	[env.py: 870]
+05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:51:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93965657  0.50555391 -0.00655364] yaw=-176.3deg	[env.py: 1019]
+05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04717283  0.88905266 -0.00655364] yaw=-138.3deg	[env.py: 1019]
+05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78873323  0.92077349 -0.00655364] yaw=-161.6deg	[env.py: 1019]
+05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:51:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.7ms, total=118.8ms	[env.py: 1075]
+05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.506, -0.007)	[env.py: 1079]
+05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.3 deg	[env.py: 1082]
+05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.763m	[env.py: 1086]
+05/10 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:51:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:51:04 INFO: [Worker 0] Worker 0 house 1 episode 44/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:51:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:51:04 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 04:51:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:51:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:51:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.464s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:51:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.335[m] 91.218[deg]	[grasp_sample.py: 539]
+05/10 04:51:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:51:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 04:51:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 04:51:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.63s (batch: 4.60s, save: 11.03s)	[pipeline.py: 300]
+05/10 04:51:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:51:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:51:06 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=1.07s:
+  episode_total: mean=120.50s, total=240.99s, count=2, min=3253.1ms, max=237739.3ms
+  sensor_polling: mean=576.6ms, total=172.99s, count=300, min=481.3ms, max=971.1ms
+  save_trajectories: mean=11.03s, total=11.03s, count=1, min=11027.5ms, max=11027.5ms
+  physics_step: mean=28.7ms, total=8.62s, count=300, min=19.5ms, max=145.6ms
+  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4602.5ms, max=4602.5ms
+  task_sampling: mean=536.9ms, total=1.07s, count=2, min=461.4ms, max=612.4ms
+  task_specific_sample: mean=532.9ms, total=1.07s, count=2, min=457.2ms, max=608.5ms
+  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.7ms, max=2.8ms
+  mj_forward_sync: mean=566.6us, total=1.1ms, count=2, min=0.5ms, max=0.7ms
+  policy_setup: mean=20.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 04:51:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:51:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:51:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:51:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:51:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:51:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:51:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:51:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:51:08 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 04:51:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:51:08 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 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032206m	[env.py: 870]
+05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:51:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82652304  0.67384531  0.03220569] yaw=-160.3deg	[env.py: 1019]
+05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95198587  1.21267726  0.03220569] yaw=-128.5deg	[env.py: 1019]
+05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67141257  0.6465223   0.03220569] yaw=-164.7deg	[env.py: 1019]
+05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:51:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.9ms, total=160.9ms	[env.py: 1075]
+05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.827, 0.674, 0.032)	[env.py: 1079]
+05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.3 deg	[env.py: 1082]
+05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
+05/10 04:51:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:51:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:51:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:51:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:51:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:51:08 INFO: [Worker 0] Worker 0 house 1 episode 42/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:51:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:51:08 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 04:51:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:51:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:51:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.537s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:51:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.488[m] 91.901[deg]	[grasp_sample.py: 539]
+05/10 04:51:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:51:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:51:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:51:13 INFO: [Worker 0] Worker 0 house 1 episode 44 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:51:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:51:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:51:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:51:37 INFO: [Worker 0] Saved videos eagerly for episode 29 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:51:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 04:51:37 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
+05/10 04:51:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:51:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 04:51:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 04:51:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.54s (batch: 4.48s, save: 11.05s)	[pipeline.py: 300]
+05/10 04:51:54 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=0.45s:
+  episode_total: mean=216.60s, total=216.60s, count=1, min=216597.6ms, max=216597.6ms
+  sensor_polling: mean=562.7ms, total=162.05s, count=288, min=473.3ms, max=1021.5ms
+  save_trajectories: mean=11.05s, total=11.05s, count=1, min=11054.9ms, max=11054.9ms
+  physics_step: mean=29.3ms, total=8.45s, count=288, min=16.2ms, max=136.3ms
+  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4483.3ms, max=4483.3ms
+  task_sampling: mean=451.3ms, total=451.3ms, count=1, min=451.3ms, max=451.3ms
+  task_specific_sample: mean=447.1ms, total=447.1ms, count=1, min=447.1ms, max=447.1ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=461.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=43.9us, 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 04:51:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:51:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:51:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:51:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:51:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:51:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:51:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:51:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 04:51:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:51:56 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 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021519m	[env.py: 870]
+05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:51:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96001585  0.52797541 -0.02151895] yaw=-177.4deg	[env.py: 1019]
+05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78972334  0.62431178 -0.02151895] yaw=-164.4deg	[env.py: 1019]
+05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73745689  0.36792713 -0.02151895] yaw=164.1deg	[env.py: 1019]
+05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:51:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.0ms, total=128.1ms	[env.py: 1075]
+05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.960, 0.528, -0.022)	[env.py: 1079]
+05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.4 deg	[env.py: 1082]
+05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.744m	[env.py: 1086]
+05/10 04:51:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:51:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:51:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:51:56 INFO: [Worker 0] Worker 0 house 1 episode 45/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:51:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:51:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:51:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:51:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:51:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.560s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:51:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.287[m] 86.671[deg]	[grasp_sample.py: 539]
+05/10 04:51:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:51:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:51:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:52:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:52:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:52:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:52:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:52:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:52:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:52:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:53:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:53:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:53:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:53:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:53:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:53:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:53:33 INFO: [Worker 0] Worker 0 house 1 episode 44 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:53:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:53:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:53:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 04:53:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 04:53:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:53:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:53:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:53:36 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.513s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:53:36 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.489[deg]	[grasp_sample.py: 539]
+05/10 04:53:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:53:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:53:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:53:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:53:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:54:01 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:54:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 04:54:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:54:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:54:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:54:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:54:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:54:10 INFO: [Worker 0] Worker 0 house 1 episode 42 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:54:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:54:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:54:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 04:54:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 04:54:13 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 04:54:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:54:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:54:14 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.636s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:54:14 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.546[deg]	[grasp_sample.py: 539]
+05/10 04:54:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:54:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:54:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:54:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 04:54:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 04:54:17 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.20s (batch: 5.37s, save: 10.83s)	[pipeline.py: 300]
+05/10 04:54:18 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=0.47s:
+  episode_total: mean=230.92s, total=230.92s, count=1, min=230916.2ms, max=230916.2ms
+  sensor_polling: mean=568.0ms, total=170.40s, count=300, min=474.5ms, max=964.7ms
+  save_trajectories: mean=10.83s, total=10.83s, count=1, min=10831.2ms, max=10831.2ms
+  physics_step: mean=27.1ms, total=8.13s, count=300, min=20.0ms, max=63.7ms
+  save_batch_prep: mean=5.37s, total=5.37s, count=1, min=5369.8ms, max=5369.8ms
+  task_sampling: mean=473.3ms, total=473.3ms, count=1, min=473.3ms, max=473.3ms
+  task_specific_sample: mean=467.9ms, total=467.9ms, count=1, min=467.9ms, max=467.9ms
+  scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  mj_forward_sync: mean=657.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 04:54:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:54:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:54:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:54:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:54:20 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 04:54:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:54:20 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 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039616m	[env.py: 870]
+05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:54:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71475411  0.01285103  0.03961643] yaw=146.6deg	[env.py: 1019]
+05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85014924  0.07132043  0.03961643] yaw=153.2deg	[env.py: 1019]
+05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76992136  0.25438027  0.03961643] yaw=172.9deg	[env.py: 1019]
+05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:54:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=234.1ms, total=234.1ms	[env.py: 1075]
+05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.013, 0.040)	[env.py: 1079]
+05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.6 deg	[env.py: 1082]
+05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m	[env.py: 1086]
+05/10 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:54:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:54:20 INFO: [Worker 0] Worker 0 house 1 episode 45/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:54:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:54:20 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 04:54:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:54:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:54:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.873s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:54:22 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.658[m] 90.942[deg]	[grasp_sample.py: 539]
+05/10 04:54:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:54:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:54:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:54:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:54:36 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:54:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 04:54:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:54:41 INFO: [Worker 0] Worker 0 house 1 episode 44 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:54:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:54:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:54:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 04:54:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 04:54:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.26s (batch: 5.23s, save: 10.03s)	[pipeline.py: 300]
+05/10 04:54:52 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=0.46s:
+  episode_total: mean=224.46s, total=224.46s, count=1, min=224455.1ms, max=224455.1ms
+  sensor_polling: mean=560.3ms, total=168.08s, count=300, min=465.4ms, max=1008.9ms
+  save_trajectories: mean=10.03s, total=10.03s, count=1, min=10033.5ms, max=10033.5ms
+  physics_step: mean=28.2ms, total=8.45s, count=300, min=16.2ms, max=117.8ms
+  save_batch_prep: mean=5.23s, total=5.23s, count=1, min=5227.7ms, max=5227.7ms
+  task_sampling: mean=463.7ms, total=463.7ms, count=1, min=463.7ms, max=463.7ms
+  task_specific_sample: mean=459.4ms, total=459.4ms, count=1, min=459.4ms, max=459.4ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=507.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.3us, 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 04:54:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:54:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:54:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:54:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:54:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:54:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:54:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:54:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:54:54 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 04:54:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:54:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002800m	[env.py: 870]
+05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:54:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66421343  0.34171279  0.00279967] yaw=176.7deg	[env.py: 1019]
+05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.2432032   1.05611396  0.00279967] yaw=-120.2deg	[env.py: 1019]
+05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10843662  1.06487179  0.00279967] yaw=-141.6deg	[env.py: 1019]
+05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:54:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.9ms, total=136.9ms	[env.py: 1075]
+05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.664, 0.342, 0.003)	[env.py: 1079]
+05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.7 deg	[env.py: 1082]
+05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m	[env.py: 1086]
+05/10 04:54:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:54:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:54:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:54:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:54:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:54:55 INFO: [Worker 0] Worker 0 house 1 episode 43/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:54:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:54:55 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 04:54:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:54:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:54:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.631s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:54:55 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.622[m] 94.049[deg]	[grasp_sample.py: 539]
+05/10 04:54:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:54:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:54:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:55:06 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:55:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 04:55:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:55:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 04:55:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 04:55:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.01s (batch: 4.38s, save: 9.63s)	[pipeline.py: 300]
+05/10 04:55:20 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=0.89s:
+  episode_total: mean=225.01s, total=450.01s, count=2, min=193653.0ms, max=256357.9ms
+  sensor_polling: mean=559.0ms, total=330.93s, count=592, min=463.4ms, max=1002.1ms
+  physics_step: mean=28.6ms, total=16.93s, count=592, min=16.5ms, max=111.5ms
+  save_trajectories: mean=9.63s, total=9.63s, count=1, min=9631.3ms, max=9631.3ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4379.7ms, max=4379.7ms
+  task_sampling: mean=442.7ms, total=885.5ms, count=2, min=436.3ms, max=449.2ms
+  task_specific_sample: mean=438.6ms, total=877.1ms, count=2, min=432.1ms, max=445.0ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.9ms, max=2.7ms
+  mj_forward_sync: mean=587.7us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
+  policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 04:55:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:55:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:55:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:55:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:55:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:55:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:55:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:55:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:55:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 04:55:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:55:22 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 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017650m	[env.py: 870]
+05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:55:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84203829  1.13237247  0.01765014] yaw=-143.4deg	[env.py: 1019]
+05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.03359746  0.95817376  0.01765014] yaw=-141.6deg	[env.py: 1019]
+05/10 04:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.64348194  0.29876579  0.01765014] yaw=165.2deg	[env.py: 1019]
+05/10 04:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:55:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=329.5ms, total=329.6ms	[env.py: 1075]
+05/10 04:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.842, 1.132, 0.018)	[env.py: 1079]
+05/10 04:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.4 deg	[env.py: 1082]
+05/10 04:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
+05/10 04:55:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:55:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:55:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:55:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:55:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:55:23 INFO: [Worker 0] Worker 0 house 1 episode 45/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:55:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.149s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:55:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:55:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:55:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:55:24 INFO: [Worker 0] Worker 0 house 1 episode 45 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:55:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 16.491s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:55:40 INFO: [Worker 0] Feasible grasp found 188 (originally 73): w/ 0.690[m] 98.082[deg]	[grasp_sample.py: 539]
+05/10 04:55:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:55:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:55:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:55:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:55:50 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:55:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 04:55:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:55:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:55:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:56:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 04:56:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 04:56:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.80s (batch: 4.57s, save: 10.23s)	[pipeline.py: 300]
+05/10 04:56:05 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=0.46s:
+  episode_total: mean=249.63s, total=249.63s, count=1, min=249634.8ms, max=249634.8ms
+  sensor_polling: mean=560.3ms, total=168.09s, count=300, min=467.8ms, max=939.8ms
+  save_trajectories: mean=10.23s, total=10.23s, count=1, min=10232.9ms, max=10232.9ms
+  physics_step: mean=26.8ms, total=8.03s, count=300, min=16.7ms, max=88.3ms
+  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4567.4ms, max=4567.4ms
+  task_sampling: mean=463.7ms, total=463.7ms, count=1, min=463.7ms, max=463.7ms
+  task_specific_sample: mean=459.2ms, total=459.2ms, count=1, min=459.2ms, max=459.2ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=498.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=30.6us, 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 04:56:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:56:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:56:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:56:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:56:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:56:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:56:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 04:56:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:56:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046414m	[env.py: 870]
+05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:56:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02772026  1.22135784 -0.04641427] yaw=-130.8deg	[env.py: 1019]
+05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83190738  0.95089148 -0.04641427] yaw=-152.2deg	[env.py: 1019]
+05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97170321  0.28725012 -0.04641427] yaw=165.5deg	[env.py: 1019]
+05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:56:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=319.1ms, total=319.1ms	[env.py: 1075]
+05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.028, 1.221, -0.046)	[env.py: 1079]
+05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.8 deg	[env.py: 1082]
+05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
+05/10 04:56:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:56:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:56:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:56:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:56:08 INFO: [Worker 0] Worker 0 house 1 episode 46/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:56:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:56:08 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 04:56:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:56:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:56:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.296s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:56:11 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.605[m] 97.688[deg]	[grasp_sample.py: 539]
+05/10 04:56:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:56:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:56:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:56:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:56:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:56:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:56:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:56:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:56:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:56:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:56:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:56:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:57:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:57:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 04:57:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 04:57:02 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 04:57:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:57:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:57:03 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.861s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:57:03 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.314[deg]	[grasp_sample.py: 539]
+05/10 04:57:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:57:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:57:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:57:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:57:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:57:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:57:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:57:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:57:25 INFO: [Worker 0] Worker 0 house 1 episode 45 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:57:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:57:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:57:37 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 04:57:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 04:57:37 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 04:57:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:57:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:57:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:57:39 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.668s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:57:39 INFO: [Worker 0] Feasible grasp found 133 (originally 18): w/ 0.050[m] 0.491[deg]	[grasp_sample.py: 539]
+05/10 04:57:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:57:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:57:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:57:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:57:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:57:49 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:57:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 04:57:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:57:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:58:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:58:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 04:58:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 04:58:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.38s (batch: 4.65s, save: 10.73s)	[pipeline.py: 300]
+05/10 04:58:05 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=0.55s:
+  episode_total: mean=225.68s, total=225.68s, count=1, min=225678.0ms, max=225678.0ms
+  sensor_polling: mean=562.5ms, total=168.76s, count=300, min=465.6ms, max=964.0ms
+  save_trajectories: mean=10.73s, total=10.73s, count=1, min=10733.5ms, max=10733.5ms
+  physics_step: mean=29.4ms, total=8.82s, count=300, min=19.2ms, max=138.4ms
+  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4647.5ms, max=4647.5ms
+  task_sampling: mean=552.3ms, total=552.3ms, count=1, min=552.3ms, max=552.3ms
+  task_specific_sample: mean=548.1ms, total=548.1ms, count=1, min=548.1ms, max=548.1ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=463.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 04:58:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:58:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:58:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:58:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:58:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:58:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:58:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 04:58:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:58:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001018m	[env.py: 870]
+05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:58:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03549490e+00  1.00748006e+00 -1.01784207e-03] yaw=-130.6deg	[env.py: 1019]
+05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09464613e+00  8.99224056e-01 -1.01784207e-03] yaw=-144.8deg	[env.py: 1019]
+05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00617994e+00  1.24729845e+00 -1.01784207e-03] yaw=-122.0deg	[env.py: 1019]
+05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:58:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.2ms, total=123.2ms	[env.py: 1075]
+05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.035, 1.007, -0.001)	[env.py: 1079]
+05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.6 deg	[env.py: 1082]
+05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
+05/10 04:58:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:58:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:58:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:58:08 INFO: [Worker 0] Worker 0 house 1 episode 46/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:58:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:58:08 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 04:58:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:58:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:58:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.589s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:58:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.387[m] 78.387[deg]	[grasp_sample.py: 539]
+05/10 04:58:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:58:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:58:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:58:24 INFO: [Worker 0] Worker 0 house 1 episode 43 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 04:58:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:58:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:58:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:58:39 INFO: [Worker 0] Worker 0 house 1 episode 45 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 04:58:39 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=False episode_total=0.66s:
+  episode_total: mean=196.33s, total=196.33s, count=1, min=196331.1ms, max=196331.1ms
+  sensor_polling: mean=549.0ms, total=164.71s, count=300, min=457.5ms, max=998.0ms
+  physics_step: mean=27.7ms, total=8.32s, count=300, min=20.1ms, max=131.7ms
+  task_sampling: mean=655.6ms, total=655.6ms, count=1, min=655.6ms, max=655.6ms
+  task_specific_sample: mean=651.3ms, total=651.3ms, count=1, min=651.3ms, max=651.3ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=528.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 04:58:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:58:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:58:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:58:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:58:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:58:41 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 04:58:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:58:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019692m	[env.py: 870]
+05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:58:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84676346  0.83073873 -0.01969186] yaw=-156.3deg	[env.py: 1019]
+05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81310872  0.81473229 -0.01969186] yaw=-165.4deg	[env.py: 1019]
+05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88944277  0.19274425 -0.01969186] yaw=152.1deg	[env.py: 1019]
+05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:58:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=259.8ms, total=259.9ms	[env.py: 1075]
+05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.847, 0.831, -0.020)	[env.py: 1079]
+05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.3 deg	[env.py: 1082]
+05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
+05/10 04:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:58:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:58:41 INFO: [Worker 0] Worker 0 house 1 episode 46/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:58:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:58:41 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 04:58:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:58:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:58:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:58:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.780s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:58:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.471[m] 84.763[deg]	[grasp_sample.py: 539]
+05/10 04:58:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:58:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:58:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:58:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:58:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:58:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 04:58:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 04:58:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 04:58:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:58:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:58:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:58:48 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 04:58:48 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 04:58:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 04:58:49 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.711s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 04:58:49 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 04:58:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:58:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:58:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:58:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:58:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:58:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:58:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:58:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 04:58:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:58:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 04:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034171m	[env.py: 870]
+05/10 04:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:58:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84412317  0.95110012  0.03417116] yaw=-156.4deg	[env.py: 1019]
+05/10 04:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80271131  0.76102603  0.03417116] yaw=-164.7deg	[env.py: 1019]
+05/10 04:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87515646  0.84736304  0.03417116] yaw=-166.8deg	[env.py: 1019]
+05/10 04:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:58:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.5ms, total=120.5ms	[env.py: 1075]
+05/10 04:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.844, 0.951, 0.034)	[env.py: 1079]
+05/10 04:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.4 deg	[env.py: 1082]
+05/10 04:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
+05/10 04:58:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:58:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:58:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:58:51 INFO: [Worker 0] Worker 0 house 1 episode 47/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:58:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:58:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:58:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:58:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:58:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.169s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:58:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.530[m] 89.150[deg]	[grasp_sample.py: 539]
+05/10 04:58:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:58:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:58:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:59:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:59:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 04:59:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 04:59:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.73s (batch: 4.64s, save: 11.09s)	[pipeline.py: 300]
+05/10 04:59:05 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=0.49s:
+  episode_total: mean=250.39s, total=250.39s, count=1, min=250392.6ms, max=250392.6ms
+  sensor_polling: mean=551.6ms, total=165.49s, count=300, min=471.1ms, max=1188.6ms
+  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11093.2ms, max=11093.2ms
+  physics_step: mean=26.3ms, total=7.89s, count=300, min=19.5ms, max=120.3ms
+  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4640.1ms, max=4640.1ms
+  task_sampling: mean=494.1ms, total=494.1ms, count=1, min=494.1ms, max=494.1ms
+  task_specific_sample: mean=489.9ms, total=489.9ms, count=1, min=489.9ms, max=489.9ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=472.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 04:59:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 04:59:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 04:59:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 04:59:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:59:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:59:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:59:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:59:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 04:59:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 04:59:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 04:59:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044369m	[env.py: 870]
+05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 04:59:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95453291  0.89471397  0.04436861] yaw=-147.5deg	[env.py: 1019]
+05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.1794718   1.05408686  0.04436861] yaw=-122.8deg	[env.py: 1019]
+05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 04:59:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.07505778  0.1395755   0.04436861] yaw=144.0deg	[env.py: 1019]
+05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 04:59:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.1ms, total=189.1ms	[env.py: 1075]
+05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.955, 0.895, 0.044)	[env.py: 1079]
+05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.5 deg	[env.py: 1082]
+05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m	[env.py: 1086]
+05/10 04:59:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 04:59:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 04:59:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 04:59:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 04:59:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 04:59:07 INFO: [Worker 0] Worker 0 house 1 episode 44/240 collected=0/40	[pipeline.py: 1044]
+05/10 04:59:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.171s	[base_object_manipulation_planner_policy.py: 377]
+05/10 04:59:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 04:59:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 04:59:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 04:59:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.526s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 04:59:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.446[m] 89.640[deg]	[grasp_sample.py: 539]
+05/10 04:59:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 04:59:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 04:59:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:59:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:59:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 04:59:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 04:59:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:00:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:00:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:00:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:00:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:00:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:01:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:01:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:01:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:01:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:01:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:01:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:01:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:01:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:01:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 05:01:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 05:01:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 05:01:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:01:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:01:18 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.859s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:01:18 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.484[deg]	[grasp_sample.py: 539]
+05/10 05:01:19 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 05:01:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:01:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:01:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:01:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:01:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:01:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:01:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:01:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:01:21 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 05:01:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:01:21 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 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027065m	[env.py: 870]
+05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:01:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91018292  0.31062097  0.02706491] yaw=166.8deg	[env.py: 1019]
+05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.75933258  0.99724968  0.02706491] yaw=-145.8deg	[env.py: 1019]
+05/10 05:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:01:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=493.8ms, total=493.8ms	[env.py: 1075]
+05/10 05:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.311, 0.027)	[env.py: 1079]
+05/10 05:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.8 deg	[env.py: 1082]
+05/10 05:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
+05/10 05:01:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:01:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:01:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:01:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:01:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:01:22 INFO: [Worker 0] Worker 0 house 1 episode 47/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:01:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:01:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 05:01:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:01:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.159s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:01:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.012s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:01:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.340[m] 87.445[deg]	[grasp_sample.py: 539]
+05/10 05:01:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:01:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:01:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:01:45 INFO: [Worker 0] Worker 0 house 1 episode 46 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:01:58 INFO: [Worker 0] Worker 0 house 1 episode 47 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:02:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:02:10 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:02:10 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 05:02:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 05:02:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:02:14 INFO: [Worker 0] Worker 0 house 1 episode 44 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:02:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:02:23 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:02:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 05:02:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 05:02:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:02:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:02:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.59s (batch: 4.36s, save: 9.23s)	[pipeline.py: 300]
+05/10 05:02:25 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=0.58s:
+  episode_total: mean=224.23s, total=224.23s, count=1, min=224234.4ms, max=224234.4ms
+  sensor_polling: mean=564.5ms, total=169.36s, count=300, min=459.0ms, max=1063.4ms
+  save_trajectories: mean=9.23s, total=9.23s, count=1, min=9232.8ms, max=9232.8ms
+  physics_step: mean=28.2ms, total=8.46s, count=300, min=18.9ms, max=115.7ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4358.3ms, max=4358.3ms
+  task_sampling: mean=577.3ms, total=577.3ms, count=1, min=577.3ms, max=577.3ms
+  task_specific_sample: mean=572.8ms, total=572.8ms, count=1, min=572.8ms, max=572.8ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=709.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 05:02:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:02:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:02:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:02:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:02:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:02:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:02:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:02:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:02:26 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 05:02:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:02:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016054m	[env.py: 870]
+05/10 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:02:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.733447    0.09144271  0.0160542 ] yaw=149.8deg	[env.py: 1019]
+05/10 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99268035  0.59242144  0.0160542 ] yaw=-173.4deg	[env.py: 1019]
+05/10 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75754106  0.08584057  0.0160542 ] yaw=149.1deg	[env.py: 1019]
+05/10 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:02:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.4ms, total=115.4ms	[env.py: 1075]
+05/10 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.733, 0.091, 0.016)	[env.py: 1079]
+05/10 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.8 deg	[env.py: 1082]
+05/10 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
+05/10 05:02:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:02:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:02:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:02:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:02:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:02:27 INFO: [Worker 0] Worker 0 house 1 episode 47/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:02:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:02:27 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 05:02:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:02:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:02:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.645s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:02:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.583[m] 92.368[deg]	[grasp_sample.py: 539]
+05/10 05:02:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:02:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:02:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:02:37 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:02:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 05:02:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 05:02:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:02:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:02:38 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.35s (batch: 4.46s, save: 9.88s)	[pipeline.py: 300]
+05/10 05:02:38 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=1.04s:
+  episode_total: mean=194.73s, total=389.46s, count=2, min=161609.3ms, max=227851.5ms
+  sensor_polling: mean=564.1ms, total=306.86s, count=544, min=461.8ms, max=1107.5ms
+  physics_step: mean=27.4ms, total=14.89s, count=544, min=19.5ms, max=131.5ms
+  save_trajectories: mean=9.88s, total=9.88s, count=1, min=9884.4ms, max=9884.4ms
+  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4462.1ms, max=4462.1ms
+  task_sampling: mean=520.8ms, total=1.04s, count=2, min=411.6ms, max=629.9ms
+  task_specific_sample: mean=516.9ms, total=1.03s, count=2, min=408.3ms, max=625.5ms
+  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.5ms, max=3.0ms
+  mj_forward_sync: mean=508.3us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=16.2us, 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 05:02:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:02:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:02:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:02:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:02:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:02:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:02:40 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 05:02:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:02:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047357m	[env.py: 870]
+05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:02:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98530729  0.24050721  0.04735727] yaw=161.0deg	[env.py: 1019]
+05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76370499  0.92549873  0.04735727] yaw=-157.3deg	[env.py: 1019]
+05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 135.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77396176  0.24692865  0.04735727] yaw=165.1deg	[env.py: 1019]
+05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:02:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.6ms, total=181.7ms	[env.py: 1075]
+05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.985, 0.241, 0.047)	[env.py: 1079]
+05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.0 deg	[env.py: 1082]
+05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.757m	[env.py: 1086]
+05/10 05:02:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:02:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:02:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:02:41 INFO: [Worker 0] Worker 0 house 1 episode 48/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:02:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:02:41 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 05:02:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:02:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:02:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.553s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:02:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.293[m] 85.741[deg]	[grasp_sample.py: 539]
+05/10 05:02:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:02:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:02:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:02:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:02:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:02:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.66s (batch: 4.53s, save: 10.13s)	[pipeline.py: 300]
+05/10 05:02:52 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=0.53s:
+  episode_total: mean=225.83s, total=225.83s, count=1, min=225831.5ms, max=225831.5ms
+  sensor_polling: mean=571.8ms, total=171.53s, count=300, min=466.1ms, max=1282.3ms
+  save_trajectories: mean=10.13s, total=10.13s, count=1, min=10125.7ms, max=10125.7ms
+  physics_step: mean=29.5ms, total=8.84s, count=300, min=19.7ms, max=140.7ms
+  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4533.4ms, max=4533.4ms
+  task_sampling: mean=530.1ms, total=530.1ms, count=1, min=530.1ms, max=530.1ms
+  task_specific_sample: mean=525.0ms, total=525.0ms, count=1, min=525.0ms, max=525.0ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=664.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 05:02:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:02:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:02:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:02:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:02:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:02:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:02:54 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 05:02:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:02:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027968m	[env.py: 870]
+05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:02:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08231223  1.17848961 -0.02796819] yaw=-129.1deg	[env.py: 1019]
+05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67451995  0.12471295 -0.02796819] yaw=162.4deg	[env.py: 1019]
+05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11091132  1.08690573 -0.02796819] yaw=-133.1deg	[env.py: 1019]
+05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:02:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.9ms, total=135.9ms	[env.py: 1075]
+05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.082, 1.178, -0.028)	[env.py: 1079]
+05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.1 deg	[env.py: 1082]
+05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/10 05:02:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:02:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:02:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:02:55 INFO: [Worker 0] Worker 0 house 1 episode 45/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:02:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:02:55 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 05:02:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:02:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:02:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.396s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:02:58 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.526[m] 85.345[deg]	[grasp_sample.py: 539]
+05/10 05:03:00 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 05:03:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:03:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:03:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:03:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:03:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:03:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:03:02 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 05:03:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:03:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031325m	[env.py: 870]
+05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:03:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85051612  0.25674571  0.03132509] yaw=166.3deg	[env.py: 1019]
+05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84993167  0.55739558  0.03132509] yaw=-172.8deg	[env.py: 1019]
+05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88180133  0.58404084  0.03132509] yaw=-171.4deg	[env.py: 1019]
+05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:03:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=375.2ms, total=375.2ms	[env.py: 1075]
+05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.851, 0.257, 0.031)	[env.py: 1079]
+05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.3 deg	[env.py: 1082]
+05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m	[env.py: 1086]
+05/10 05:03:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:03:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:03:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:03:03 INFO: [Worker 0] Worker 0 house 1 episode 46/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:03:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:03:03 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 05:03:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:03:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:03:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.851s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:03:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.416[m] 86.899[deg]	[grasp_sample.py: 539]
+05/10 05:03:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:03:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:03:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:03:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:03:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:03:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:03:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:03:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:03:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:03:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:03:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:03:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:03:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 05:03:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 05:03:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 05:03:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:03:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:03:23 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.475s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:03:23 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.582[deg]	[grasp_sample.py: 539]
+05/10 05:03:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:03:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:03:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:03:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:03:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:03:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:03:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:03:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:03:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:03:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:03:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:03:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:04:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:04:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:04:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:04:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:04:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:04:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:04:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:04:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:04:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:04:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:04:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 05:04:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 05:04:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 05:04:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:04:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:04:24 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.177s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:04:24 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.608[deg]	[grasp_sample.py: 539]
+05/10 05:04:26 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 05:04:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:04:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:04:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:04:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:04:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:04:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:04:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:04:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:04:28 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 05:04:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:04:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038899m	[env.py: 870]
+05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:04:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.10376623  0.86442768 -0.0388989 ] yaw=-138.5deg	[env.py: 1019]
+05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85533091  1.04291827 -0.0388989 ] yaw=-145.4deg	[env.py: 1019]
+05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.06142771  0.13800633 -0.0388989 ] yaw=153.1deg	[env.py: 1019]
+05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:04:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=406.2ms, total=406.2ms	[env.py: 1075]
+05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.104, 0.864, -0.039)	[env.py: 1079]
+05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.5 deg	[env.py: 1082]
+05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.710m	[env.py: 1086]
+05/10 05:04:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:04:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:04:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:04:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:04:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:04:29 INFO: [Worker 0] Worker 0 house 1 episode 49/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:04:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:04:29 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 05:04:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:04:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:04:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.560s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:04:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.286[m] 88.770[deg]	[grasp_sample.py: 539]
+05/10 05:04:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:04:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:04:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:04:36 INFO: [Worker 0] Worker 0 house 1 episode 47 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:05:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:05:04 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:05:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 05:05:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 05:05:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:05:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:05:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:05:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:05:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.25s (batch: 4.66s, save: 11.59s)	[pipeline.py: 300]
+05/10 05:05:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:05:21 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=1.32s:
+  episode_total: mean=215.77s, total=431.53s, count=2, min=191754.3ms, max=239778.0ms
+  sensor_polling: mean=560.7ms, total=330.25s, count=589, min=466.4ms, max=1036.8ms
+  physics_step: mean=28.6ms, total=16.84s, count=589, min=16.1ms, max=118.4ms
+  save_trajectories: mean=11.59s, total=11.59s, count=1, min=11588.7ms, max=11588.7ms
+  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4660.4ms, max=4660.4ms
+  task_sampling: mean=660.7ms, total=1.32s, count=2, min=501.9ms, max=819.5ms
+  task_specific_sample: mean=656.5ms, total=1.31s, count=2, min=497.7ms, max=815.3ms
+  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.8ms, max=2.8ms
+  mj_forward_sync: mean=569.1us, total=1.1ms, count=2, min=0.5ms, max=0.7ms
+  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 05:05:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:05:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:05:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:05:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:05:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:05:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:05:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 05:05:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:05:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001722m	[env.py: 870]
+05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:05:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90995501  0.98159774  0.00172205] yaw=-148.7deg	[env.py: 1019]
+05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85980739  0.10202901  0.00172205] yaw=158.5deg	[env.py: 1019]
+05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:05:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8112092   0.29293115  0.00172205] yaw=169.9deg	[env.py: 1019]
+05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:05:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.5ms, total=82.6ms	[env.py: 1075]
+05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.982, 0.002)	[env.py: 1079]
+05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.7 deg	[env.py: 1082]
+05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
+05/10 05:05:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:05:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:05:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:05:23 INFO: [Worker 0] Worker 0 house 1 episode 48/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:05:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:05:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 05:05:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:05:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:05:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:05:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.720s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:05:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.538[m] 90.381[deg]	[grasp_sample.py: 539]
+05/10 05:05:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:05:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:05:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:05:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:05:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:05:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:05:31 INFO: [Worker 0] Worker 0 house 1 episode 47 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:05:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:05:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:05:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 05:05:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 05:05:34 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 05:05:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:05:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:05:35 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:05:35 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.669[deg]	[grasp_sample.py: 539]
+05/10 05:05:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:05:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:05:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:05:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:05:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:05:58 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:05:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 05:05:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 05:06:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:06:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:06:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:06:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.89s (batch: 4.80s, save: 10.09s)	[pipeline.py: 300]
+05/10 05:06:14 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=0.46s:
+  episode_total: mean=227.10s, total=227.10s, count=1, min=227096.3ms, max=227096.3ms
+  sensor_polling: mean=564.0ms, total=169.20s, count=300, min=464.2ms, max=984.0ms
+  save_trajectories: mean=10.09s, total=10.09s, count=1, min=10092.5ms, max=10092.5ms
+  physics_step: mean=29.6ms, total=8.88s, count=300, min=16.7ms, max=97.5ms
+  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4795.5ms, max=4795.5ms
+  task_sampling: mean=455.6ms, total=455.6ms, count=1, min=455.6ms, max=455.6ms
+  task_specific_sample: mean=451.5ms, total=451.5ms, count=1, min=451.5ms, max=451.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=468.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.0us, 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 05:06:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:06:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:06:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:06:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:06:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 05:06:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:06:15 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 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040388m	[env.py: 870]
+05/10 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:06:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.04978733  1.06101471  0.04038789] yaw=-136.6deg	[env.py: 1019]
+05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:06:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=576.2ms, total=576.3ms	[env.py: 1075]
+05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.050, 1.061, 0.040)	[env.py: 1079]
+05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.6 deg	[env.py: 1082]
+05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
+05/10 05:06:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:06:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:06:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:06:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:06:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:06:16 INFO: [Worker 0] Worker 0 house 1 episode 48/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:06:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.190s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:06:17 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 05:06:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:06:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:06:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.911s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:06:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.453[m] 94.555[deg]	[grasp_sample.py: 539]
+05/10 05:06:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:06:19 INFO: [Worker 0] Worker 0 house 1 episode 46 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:06:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:06:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:06:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:06:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:06:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:06:47 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:06:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 05:06:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 05:07:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:07:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:07:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 18.10s (batch: 5.03s, save: 13.07s)	[pipeline.py: 300]
+05/10 05:07:06 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=1.16s:
+  episode_total: mean=125.00s, total=250.01s, count=2, min=5811.7ms, max=244197.3ms
+  sensor_polling: mean=569.2ms, total=170.76s, count=300, min=481.6ms, max=1250.2ms
+  save_trajectories: mean=13.07s, total=13.07s, count=1, min=13065.5ms, max=13065.5ms
+  physics_step: mean=30.0ms, total=9.01s, count=300, min=20.0ms, max=135.5ms
+  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5033.8ms, max=5033.8ms
+  task_sampling: mean=577.9ms, total=1.16s, count=2, min=491.7ms, max=664.0ms
+  task_specific_sample: mean=573.1ms, total=1.15s, count=2, min=486.4ms, max=659.9ms
+  scene_randomize: mean=2.7ms, total=5.3ms, count=2, min=1.7ms, max=3.6ms
+  mj_forward_sync: mean=648.3us, total=1.3ms, count=2, min=0.6ms, max=0.7ms
+  policy_setup: mean=18.4us, 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 05:07:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:07:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:07:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:07:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:07:08 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 05:07:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:07:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003732m	[env.py: 870]
+05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:07:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69608758  0.73538214 -0.00373208] yaw=-162.6deg	[env.py: 1019]
+05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06853568  0.78712305 -0.00373208] yaw=-156.2deg	[env.py: 1019]
+05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97091778  0.42754868 -0.00373208] yaw=166.3deg	[env.py: 1019]
+05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:07:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=464.6ms, total=464.7ms	[env.py: 1075]
+05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.696, 0.735, -0.004)	[env.py: 1079]
+05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.6 deg	[env.py: 1082]
+05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/10 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:07:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:07:09 INFO: [Worker 0] Worker 0 house 1 episode 47/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:07:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:07:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 05:07:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:07:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:07:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.730s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:07:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.578[m] 85.819[deg]	[grasp_sample.py: 539]
+05/10 05:07:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:07:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:07:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:07:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:07:18 INFO: [Worker 0] Worker 0 house 1 episode 49 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:07:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:07:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:07:47 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:07:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 05:07:47 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/10 05:08:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:08:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:08:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.88s (batch: 4.25s, save: 8.63s)	[pipeline.py: 300]
+05/10 05:08:01 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=1.23s:
+  episode_total: mean=159.46s, total=318.93s, count=2, min=105861.8ms, max=213066.9ms
+  sensor_polling: mean=565.8ms, total=238.22s, count=421, min=455.5ms, max=1374.7ms
+  physics_step: mean=28.7ms, total=12.07s, count=421, min=17.1ms, max=115.6ms
+  save_trajectories: mean=8.63s, total=8.63s, count=1, min=8632.9ms, max=8632.9ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4250.8ms, max=4250.8ms
+  task_sampling: mean=614.2ms, total=1.23s, count=2, min=499.9ms, max=728.4ms
+  task_specific_sample: mean=609.9ms, total=1.22s, count=2, min=495.8ms, max=723.9ms
+  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=2.1ms, max=2.7ms
+  mj_forward_sync: mean=487.3us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.8us, 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 05:08:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:08:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:08:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:08:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:08:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:08:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:08:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:08:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:08:03 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 05:08:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:08:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007752m	[env.py: 870]
+05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:08:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88470733  0.21938705  0.00775161] yaw=164.2deg	[env.py: 1019]
+05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76402178 -0.01336149  0.00775161] yaw=158.9deg	[env.py: 1019]
+05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 135.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:08:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=665.8ms, total=665.9ms	[env.py: 1075]
+05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.219, 0.008)	[env.py: 1079]
+05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.2 deg	[env.py: 1082]
+05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/10 05:08:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:08:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:08:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:08:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:08:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:08:04 INFO: [Worker 0] Worker 0 house 1 episode 50/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:08:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:08:04 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 05:08:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:08:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.139s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:08:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.226s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:08:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.409[m] 85.302[deg]	[grasp_sample.py: 539]
+05/10 05:08:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:08:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:08:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:08:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:08:29 INFO: [Worker 0] Worker 0 house 1 episode 48 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:08:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:08:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:08:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:08:55 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:08:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 05:08:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 05:09:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:09:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:09:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:09:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:09:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:09:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:09:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:09:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.40s (batch: 4.93s, save: 9.47s)	[pipeline.py: 300]
+05/10 05:09:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:09:10 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=0.41s:
+  episode_total: mean=227.07s, total=227.07s, count=1, min=227074.0ms, max=227074.0ms
+  sensor_polling: mean=570.9ms, total=171.28s, count=300, min=456.5ms, max=1065.2ms
+  save_trajectories: mean=9.47s, total=9.47s, count=1, min=9471.2ms, max=9471.2ms
+  physics_step: mean=27.2ms, total=8.17s, count=300, min=16.5ms, max=71.4ms
+  save_batch_prep: mean=4.93s, total=4.93s, count=1, min=4930.2ms, max=4930.2ms
+  task_sampling: mean=412.4ms, total=412.4ms, count=1, min=412.4ms, max=412.4ms
+  task_specific_sample: mean=408.4ms, total=408.4ms, count=1, min=408.4ms, max=408.4ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=470.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 05:09:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:09:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:09:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:09:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:09:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:09:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:09:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:09:12 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 05:09:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:09:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042289m	[env.py: 870]
+05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:09:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0026126   0.43919668  0.04228856] yaw=180.8deg	[env.py: 1019]
+05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 127.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78360654  0.16214845  0.04228856] yaw=158.8deg	[env.py: 1019]
+05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:09:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.8ms, total=195.8ms	[env.py: 1075]
+05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.003, 0.439, 0.042)	[env.py: 1079]
+05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.8 deg	[env.py: 1082]
+05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.701m	[env.py: 1086]
+05/10 05:09:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:09:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:09:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:09:12 INFO: [Worker 0] Worker 0 house 1 episode 49/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:09:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:09:12 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 05:09:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:09:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:09:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.742s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:09:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.242[m] 84.128[deg]	[grasp_sample.py: 539]
+05/10 05:09:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:09:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:09:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:09:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:09:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:09:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:09:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 05:09:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 05:09:18 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 05:09:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:09:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:09:20 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.741s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:09:20 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.244[deg]	[grasp_sample.py: 539]
+05/10 05:09:21 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 05:09:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:09:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:09:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:09:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:09:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 05:09:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:09:23 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 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049463m	[env.py: 870]
+05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:09:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72199523  0.17794869  0.04946279] yaw=163.1deg	[env.py: 1019]
+05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91854424  0.21811226  0.04946279] yaw=164.7deg	[env.py: 1019]
+05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78472073  0.61200549  0.04946279] yaw=-177.4deg	[env.py: 1019]
+05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:09:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=281.7ms, total=281.7ms	[env.py: 1075]
+05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.722, 0.178, 0.049)	[env.py: 1079]
+05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.1 deg	[env.py: 1082]
+05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/10 05:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:09:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:09:23 INFO: [Worker 0] Worker 0 house 1 episode 49/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:09:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:09:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 05:09:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:09:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:09:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.779s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:09:25 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.543[m] 85.391[deg]	[grasp_sample.py: 539]
+05/10 05:09:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:09:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:09:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:09:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:09:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:09:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:10:09 INFO: [Worker 0] Worker 0 house 1 episode 47 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:10:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:10:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 05:10:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 05:10:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 05:10:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:10:39 INFO: [Worker 0] Saved videos eagerly for episode 36 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:10:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 05:10:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 05:10:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:10:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:41 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.900s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:10:41 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.535[deg]	[grasp_sample.py: 539]
+05/10 05:10:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:10:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:10:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:10:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:10:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:10:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 05:10:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 05:10:52 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 05:10:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:10:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:10:53 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.784s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:10:53 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.687[deg]	[grasp_sample.py: 539]
+05/10 05:10:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:10:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:10:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:10:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:10:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:10:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.43s (batch: 4.73s, save: 10.70s)	[pipeline.py: 300]
+05/10 05:10:55 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=0.75s:
+  episode_total: mean=227.46s, total=227.46s, count=1, min=227456.2ms, max=227456.2ms
+  sensor_polling: mean=549.3ms, total=164.78s, count=300, min=464.2ms, max=934.3ms
+  save_trajectories: mean=10.70s, total=10.70s, count=1, min=10704.3ms, max=10704.3ms
+  physics_step: mean=26.3ms, total=7.88s, count=300, min=19.6ms, max=56.3ms
+  save_batch_prep: mean=4.73s, total=4.73s, count=1, min=4729.3ms, max=4729.3ms
+  task_sampling: mean=753.0ms, total=753.0ms, count=1, min=753.0ms, max=753.0ms
+  task_specific_sample: mean=748.1ms, total=748.1ms, count=1, min=748.1ms, max=748.1ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=572.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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 05:10:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:10:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:10:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:10:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:10:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:10:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:10:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:10:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:10:57 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 05:10:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:10:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.023m, effective arm-mount z=0.837m (base_body_z=-0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 05:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023421m	[env.py: 870]
+05/10 05:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:10:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91355259  0.10056596 -0.02342061] yaw=149.7deg	[env.py: 1019]
+05/10 05:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96345598  0.69004251 -0.02342061] yaw=-162.0deg	[env.py: 1019]
+05/10 05:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81484859  0.03210734 -0.02342061] yaw=160.8deg	[env.py: 1019]
+05/10 05:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:10:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.5ms, total=126.6ms	[env.py: 1075]
+05/10 05:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.914, 0.101, -0.023)	[env.py: 1079]
+05/10 05:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.7 deg	[env.py: 1082]
+05/10 05:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
+05/10 05:10:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:10:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:10:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:10:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:10:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:10:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 05:10:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 05:10:58 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 05:10:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:10:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:10:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:10:58 INFO: [Worker 0] Worker 0 house 1 episode 48/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:10:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:10:58 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 05:10:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:10:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:10:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.579s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:10:59 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.408[m] 83.003[deg]	[grasp_sample.py: 539]
+05/10 05:10:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:10:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:10:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:10:59 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.644s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:10:59 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.599[deg]	[grasp_sample.py: 539]
+05/10 05:10:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:11:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:11:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:11:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:11:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:11:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:11:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:11:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:11:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:11:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:11:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:11:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:11:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:11:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 05:11:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 05:11:13 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 05:11:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:11:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:11:15 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.662s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:11:15 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.599[deg]	[grasp_sample.py: 539]
+05/10 05:11:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:11:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:11:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:11:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:11:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:11:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:11:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:11:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:11:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:11:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:11:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:11:38 INFO: [Worker 0] Worker 0 house 1 episode 50 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:11:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:11:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 05:11:38 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/10 05:11:39 INFO: [Worker 0] Worker 0 house 1 episode 49 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 05:11:39 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=False episode_total=0.52s:
+  episode_total: mean=147.21s, total=147.21s, count=1, min=147207.4ms, max=147207.4ms
+  sensor_polling: mean=560.3ms, total=79.00s, count=141, min=476.5ms, max=1115.6ms
+  physics_step: mean=23.9ms, total=3.36s, count=141, min=14.7ms, max=51.7ms
+  task_sampling: mean=520.4ms, total=520.4ms, count=1, min=520.4ms, max=520.4ms
+  task_specific_sample: mean=516.3ms, total=516.3ms, count=1, min=516.3ms, max=516.3ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=465.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.6us, 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 05:11:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:11:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:11:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:11:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:11:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:11:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:11:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:11:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:11:41 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 05:11:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:11:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048003m	[env.py: 870]
+05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:11:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15869441  0.96581468  0.04800339] yaw=-149.5deg	[env.py: 1019]
+05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97687553  0.71991274  0.04800339] yaw=-155.1deg	[env.py: 1019]
+05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93166728  0.14947921  0.04800339] yaw=146.9deg	[env.py: 1019]
+05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:11:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.0ms, total=111.1ms	[env.py: 1075]
+05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.159, 0.966, 0.048)	[env.py: 1079]
+05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.5 deg	[env.py: 1082]
+05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.728m	[env.py: 1086]
+05/10 05:11:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:11:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:11:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:11:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:11:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:11:41 INFO: [Worker 0] Worker 0 house 1 episode 50/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:11:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:11:41 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 05:11:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:11:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:11:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.553s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:11:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.340[m] 88.392[deg]	[grasp_sample.py: 539]
+05/10 05:11:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:11:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:11:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:11:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:11:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:12:01 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:12:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 05:12:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 05:12:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:12:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:12:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:12:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.04s (batch: 4.47s, save: 9.57s)	[pipeline.py: 300]
+05/10 05:12:15 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=0.99s:
+  episode_total: mean=252.60s, total=252.60s, count=1, min=252596.7ms, max=252596.7ms
+  sensor_polling: mean=553.9ms, total=166.18s, count=300, min=464.8ms, max=1345.9ms
+  save_trajectories: mean=9.57s, total=9.57s, count=1, min=9567.5ms, max=9567.5ms
+  physics_step: mean=28.8ms, total=8.65s, count=300, min=18.3ms, max=133.8ms
+  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4469.4ms, max=4469.4ms
+  task_sampling: mean=988.3ms, total=988.3ms, count=1, min=988.3ms, max=988.3ms
+  task_specific_sample: mean=983.0ms, total=983.0ms, count=1, min=983.0ms, max=983.0ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=653.7us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 05:12:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:12:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:12:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:12:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:12:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:12:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:12:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:12:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:12:17 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 05:12:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:12:17 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 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029624m	[env.py: 870]
+05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:12:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98901761  0.81487479  0.02962352] yaw=-156.7deg	[env.py: 1019]
+05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.63569626  0.68612919  0.02962352] yaw=-167.9deg	[env.py: 1019]
+05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94669868  0.30899687  0.02962352] yaw=170.1deg	[env.py: 1019]
+05/10 05:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:12:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.8ms, total=198.8ms	[env.py: 1075]
+05/10 05:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.989, 0.815, 0.030)	[env.py: 1079]
+05/10 05:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.7 deg	[env.py: 1082]
+05/10 05:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.787m	[env.py: 1086]
+05/10 05:12:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:12:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:12:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:12:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:12:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:12:18 INFO: [Worker 0] Worker 0 house 1 episode 51/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:12:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:12:18 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 05:12:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:12:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:12:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:12:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.805s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:12:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.328[m] 82.992[deg]	[grasp_sample.py: 539]
+05/10 05:12:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:12:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:12:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:12:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:12:33 INFO: [Worker 0] Worker 0 house 1 episode 49 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:12:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:12:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:13:00 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:13:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 05:13:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 05:13:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:13:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:13:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:13:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:13:17 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.46s (batch: 5.38s, save: 12.09s)	[pipeline.py: 300]
+05/10 05:13:18 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=1.46s:
+  episode_total: mean=210.50s, total=420.99s, count=2, min=185388.1ms, max=235605.3ms
+  sensor_polling: mean=557.6ms, total=325.66s, count=584, min=452.4ms, max=1094.7ms
+  physics_step: mean=29.9ms, total=17.43s, count=584, min=19.5ms, max=132.1ms
+  save_trajectories: mean=12.09s, total=12.09s, count=1, min=12085.4ms, max=12085.4ms
+  save_batch_prep: mean=5.38s, total=5.38s, count=1, min=5379.1ms, max=5379.1ms
+  task_sampling: mean=732.2ms, total=1.46s, count=2, min=563.6ms, max=900.8ms
+  task_specific_sample: mean=727.9ms, total=1.46s, count=2, min=560.2ms, max=895.7ms
+  scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=1.5ms, max=3.5ms
+  mj_forward_sync: mean=533.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=18.9us, 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 05:13:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:13:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:13:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:13:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:13:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:13:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:13:20 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 05:13:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:13:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038677m	[env.py: 870]
+05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:13:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97178308  0.52123967 -0.03867683] yaw=-176.0deg	[env.py: 1019]
+05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90568285  0.66059078 -0.03867683] yaw=-169.0deg	[env.py: 1019]
+05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:13:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.8ms, total=206.8ms	[env.py: 1075]
+05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.521, -0.039)	[env.py: 1079]
+05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.0 deg	[env.py: 1082]
+05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.732m	[env.py: 1086]
+05/10 05:13:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:13:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:13:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:13:21 INFO: [Worker 0] Worker 0 house 1 episode 50/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:13:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:13:21 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 05:13:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:13:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:13:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.479s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:13:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.322[m] 90.418[deg]	[grasp_sample.py: 539]
+05/10 05:13:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:13:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:13:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:13:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:13:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:14:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:14:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:14:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:14:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:14:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:14:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:14:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:14:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:14:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 05:14:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 05:14:12 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 05:14:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:14:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:14:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:14:13 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.709s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:14:13 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.251[deg]	[grasp_sample.py: 539]
+05/10 05:14:15 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 05:14:15 WARNING: [Worker 0] Asset Fridge_7_upside_down (hash: a079a499003c75f24f76325cf35d2986) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/10 05:14:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:14:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:14:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:14:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:14:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:14:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:14:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:14:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:14:17 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 05:14:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:14:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036299m	[env.py: 870]
+05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:14:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83196583  1.12501728  0.03629883] yaw=-146.9deg	[env.py: 1019]
+05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94016393  0.32405916  0.03629883] yaw=160.6deg	[env.py: 1019]
+05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94112911  0.63465169  0.03629883] yaw=-160.2deg	[env.py: 1019]
+05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:14:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=367.3ms, total=367.4ms	[env.py: 1075]
+05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.832, 1.125, 0.036)	[env.py: 1079]
+05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.9 deg	[env.py: 1082]
+05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
+05/10 05:14:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:14:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:14:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:14:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:14:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:14:17 INFO: [Worker 0] Worker 0 house 1 episode 49/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:14:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:14:17 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 05:14:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:14:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:14:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:14:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.380s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:14:22 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.687[m] 95.507[deg]	[grasp_sample.py: 539]
+05/10 05:14:23 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 05:14:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:14:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:14:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:14:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:14:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:14:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 05:14:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:14:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 05:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046253m	[env.py: 870]
+05/10 05:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:14:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79296079  0.64830494 -0.04625349] yaw=-173.0deg	[env.py: 1019]
+05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.6672997   0.40912558 -0.04625349] yaw=174.6deg	[env.py: 1019]
+05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87450463  0.80765596 -0.04625349] yaw=-158.9deg	[env.py: 1019]
+05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:14:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=301.7ms, total=301.7ms	[env.py: 1075]
+05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.793, 0.648, -0.046)	[env.py: 1079]
+05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.0 deg	[env.py: 1082]
+05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
+05/10 05:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:14:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:14:26 INFO: [Worker 0] Worker 0 house 1 episode 50/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:14:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:14:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 05:14:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:14:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:14:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:14:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.091s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:14:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.467[m] 86.518[deg]	[grasp_sample.py: 539]
+05/10 05:14:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:14:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:14:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:14:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:14:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:14:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:14:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:14:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:14:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 05:14:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 05:14:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 05:14:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:14:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:14:39 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.155s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:14:39 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.366[deg]	[grasp_sample.py: 539]
+05/10 05:14:41 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 05:14:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:14:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:14:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:14:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:14:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:14:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:14:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:14:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:14:43 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 05:14:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:14:43 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 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032486m	[env.py: 870]
+05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:14:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83253253  0.53725283  0.03248635] yaw=-167.3deg	[env.py: 1019]
+05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08473206  0.85201261  0.03248635] yaw=-152.8deg	[env.py: 1019]
+05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95314909  1.24384766  0.03248635] yaw=-129.6deg	[env.py: 1019]
+05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:14:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.7ms, total=181.7ms	[env.py: 1075]
+05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.537, 0.032)	[env.py: 1079]
+05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.3 deg	[env.py: 1082]
+05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
+05/10 05:14:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:14:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:14:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:14:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:14:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:14:43 INFO: [Worker 0] Worker 0 house 1 episode 51/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:14:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:14:43 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 05:14:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:14:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:14:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.555s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:14:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.500[m] 98.105[deg]	[grasp_sample.py: 539]
+05/10 05:14:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:14:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:14:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:15:09 INFO: [Worker 0] Worker 0 house 1 episode 51 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:15:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:15:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:15:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:15:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:15:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:15:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:15:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:15:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:15:33 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:15:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 05:15:33 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/10 05:15:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:15:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:15:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 05:15:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 05:15:35 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 05:15:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:15:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:15:35 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.526s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:15:35 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.469[deg]	[grasp_sample.py: 539]
+05/10 05:15:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:15:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:15:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:15:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:15:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:15:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:15:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:15:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.61s (batch: 4.58s, save: 9.04s)	[pipeline.py: 300]
+05/10 05:15:47 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.92s:
+  episode_total: mean=209.69s, total=209.69s, count=1, min=209685.1ms, max=209685.1ms
+  sensor_polling: mean=550.7ms, total=157.51s, count=286, min=472.2ms, max=792.7ms
+  save_trajectories: mean=9.04s, total=9.04s, count=1, min=9036.7ms, max=9036.7ms
+  physics_step: mean=27.7ms, total=7.91s, count=286, min=19.3ms, max=88.2ms
+  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4576.1ms, max=4576.1ms
+  task_sampling: mean=916.5ms, total=916.5ms, count=1, min=916.5ms, max=916.5ms
+  task_specific_sample: mean=912.0ms, total=912.0ms, count=1, min=912.0ms, max=912.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=614.8us, 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 05:15:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:15:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:15:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:15:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:15:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:15:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:15:49 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 05:15:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:15:49 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 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035543m	[env.py: 870]
+05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:15:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76247955  0.34519901 -0.03554312] yaw=163.1deg	[env.py: 1019]
+05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.03991266  0.16261513 -0.03554312] yaw=146.6deg	[env.py: 1019]
+05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97985518  0.35461928 -0.03554312] yaw=175.3deg	[env.py: 1019]
+05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:15:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.8ms, total=148.8ms	[env.py: 1075]
+05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.345, -0.036)	[env.py: 1079]
+05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.1 deg	[env.py: 1082]
+05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
+05/10 05:15:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:15:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:15:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:15:49 INFO: [Worker 0] Worker 0 house 1 episode 52/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:15:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:15:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 05:15:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:15:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:15:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.588s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:15:50 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.489[m] 81.248[deg]	[grasp_sample.py: 539]
+05/10 05:15:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:15:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:15:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:15:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:15:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:15:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:16:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:16:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:16:47 INFO: [Worker 0] Worker 0 house 1 episode 50 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:16:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:17:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:17:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:17:19 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:17:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 05:17:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 05:17:31 INFO: [Worker 0] Worker 0 house 1 episode 50 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:17:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:17:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:17:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.75s (batch: 4.88s, save: 10.87s)	[pipeline.py: 300]
+05/10 05:17:35 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=0.51s:
+  episode_total: mean=255.27s, total=255.27s, count=1, min=255271.5ms, max=255271.5ms
+  sensor_polling: mean=557.7ms, total=167.30s, count=300, min=471.7ms, max=987.0ms
+  save_trajectories: mean=10.87s, total=10.87s, count=1, min=10871.2ms, max=10871.2ms
+  physics_step: mean=28.1ms, total=8.43s, count=300, min=16.3ms, max=137.8ms
+  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4878.5ms, max=4878.5ms
+  task_sampling: mean=512.7ms, total=512.7ms, count=1, min=512.7ms, max=512.7ms
+  task_specific_sample: mean=508.7ms, total=508.7ms, count=1, min=508.7ms, max=508.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=474.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 05:17:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:17:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:17:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:17:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:17:37 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 05:17:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:17:37 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 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005173m	[env.py: 870]
+05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:17:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.786246    0.91616677 -0.00517311] yaw=-156.6deg	[env.py: 1019]
+05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86896054  0.48845088 -0.00517311] yaw=-184.6deg	[env.py: 1019]
+05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0198648   0.67072913 -0.00517311] yaw=-165.6deg	[env.py: 1019]
+05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:17:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.1ms, total=121.1ms	[env.py: 1075]
+05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.786, 0.916, -0.005)	[env.py: 1079]
+05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.6 deg	[env.py: 1082]
+05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
+05/10 05:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:17:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:17:38 INFO: [Worker 0] Worker 0 house 1 episode 51/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:17:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:17:38 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 05:17:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:17:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:17:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.637s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:17:41 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.572[m] 76.156[deg]	[grasp_sample.py: 539]
+05/10 05:17:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:17:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:17:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:17:45 INFO: [Worker 0] Worker 0 house 1 episode 51 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:18:00 INFO: [Worker 0] Saved videos eagerly for episode 37 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:18:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 05:18:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 05:18:16 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:18:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 05:18:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 05:18:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:18:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:18:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.44s (batch: 4.88s, save: 11.57s)	[pipeline.py: 300]
+05/10 05:18:17 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=1.77s:
+  episode_total: mean=145.23s, total=435.69s, count=3, min=6900.5ms, max=231472.4ms
+  sensor_polling: mean=568.6ms, total=338.88s, count=596, min=470.4ms, max=987.9ms
+  physics_step: mean=29.0ms, total=17.26s, count=596, min=16.7ms, max=125.0ms
+  save_trajectories: mean=11.57s, total=11.57s, count=1, min=11569.3ms, max=11569.3ms
+  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4875.7ms, max=4875.7ms
+  task_sampling: mean=589.6ms, total=1.77s, count=3, min=506.9ms, max=643.5ms
+  task_specific_sample: mean=585.3ms, total=1.76s, count=3, min=503.1ms, max=640.1ms
+  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.5ms, max=2.5ms
+  mj_forward_sync: mean=555.3us, total=1.7ms, count=3, min=0.4ms, max=0.8ms
+  policy_setup: mean=21.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 05:18:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:18:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:18:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:18:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:18:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 05:18:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:18:19 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 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012338m	[env.py: 870]
+05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:18:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07133697  0.84503363  0.01233834] yaw=-153.4deg	[env.py: 1019]
+05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9589487   0.46552662  0.01233834] yaw=176.4deg	[env.py: 1019]
+05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9421427   0.5743842   0.01233834] yaw=-178.7deg	[env.py: 1019]
+05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:18:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.5ms, total=220.5ms	[env.py: 1075]
+05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.071, 0.845, 0.012)	[env.py: 1079]
+05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.4 deg	[env.py: 1082]
+05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.728m	[env.py: 1086]
+05/10 05:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:18:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:18:19 INFO: [Worker 0] Worker 0 house 1 episode 51/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:18:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:18:20 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 05:18:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:18:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:18:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.615s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:18:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.298[m] 92.337[deg]	[grasp_sample.py: 539]
+05/10 05:18:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:18:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:18:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:18:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:18:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:18:31 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.17s (batch: 4.95s, save: 10.22s)	[pipeline.py: 300]
+05/10 05:18:32 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.89s:
+  episode_total: mean=204.64s, total=409.28s, count=2, min=180049.2ms, max=229226.1ms
+  sensor_polling: mean=553.4ms, total=318.74s, count=576, min=460.3ms, max=1025.3ms
+  physics_step: mean=28.1ms, total=16.17s, count=576, min=16.5ms, max=114.5ms
+  save_trajectories: mean=10.22s, total=10.22s, count=1, min=10222.4ms, max=10222.4ms
+  save_batch_prep: mean=4.95s, total=4.95s, count=1, min=4950.5ms, max=4950.5ms
+  task_sampling: mean=442.5ms, total=885.1ms, count=2, min=394.2ms, max=490.9ms
+  task_specific_sample: mean=437.5ms, total=875.0ms, count=2, min=390.2ms, max=484.8ms
+  scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=1.6ms, max=3.2ms
+  mj_forward_sync: mean=685.6us, total=1.4ms, count=2, min=0.6ms, max=0.8ms
+  policy_setup: mean=19.0us, 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 05:18:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:18:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:18:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:18:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:18:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:18:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:18:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:18:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:18:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 05:18:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:18:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 05:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039082m	[env.py: 870]
+05/10 05:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:18:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:18:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=222.2ms, total=222.3ms	[env.py: 1105]
+05/10 05:18:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/10 05:18:34 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/10 05:18:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:18:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:18:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:18:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:18:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:18:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:18:36 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 05:18:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:18:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003392m	[env.py: 870]
+05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:18:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70067077  0.60953215 -0.00339161] yaw=-173.3deg	[env.py: 1019]
+05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.85889978  0.91835196 -0.00339161] yaw=-153.6deg	[env.py: 1019]
+05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86142264  0.86647112 -0.00339161] yaw=-145.5deg	[env.py: 1019]
+05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:18:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=410.6ms, total=410.7ms	[env.py: 1075]
+05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.701, 0.610, -0.003)	[env.py: 1079]
+05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.3 deg	[env.py: 1082]
+05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
+05/10 05:18:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:18:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:18:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:18:37 INFO: [Worker 0] Worker 0 house 1 episode 53/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:18:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:18:37 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 05:18:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:18:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:18:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.634s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:18:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.582[m] 89.345[deg]	[grasp_sample.py: 539]
+05/10 05:18:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:18:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:18:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:18:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:18:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:18:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:19:00 INFO: [Worker 0] Worker 0 house 1 episode 52 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:19:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:19:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:19:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:19:28 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:19:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 05:19:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 05:19:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:19:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:19:43 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.75s (batch: 4.66s, save: 11.09s)	[pipeline.py: 300]
+05/10 05:19:44 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.48s:
+  episode_total: mean=235.51s, total=235.51s, count=1, min=235509.8ms, max=235509.8ms
+  sensor_polling: mean=565.7ms, total=169.71s, count=300, min=465.7ms, max=931.4ms
+  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11086.8ms, max=11086.8ms
+  physics_step: mean=28.1ms, total=8.42s, count=300, min=15.6ms, max=105.7ms
+  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4662.4ms, max=4662.4ms
+  task_sampling: mean=478.3ms, total=478.3ms, count=1, min=478.3ms, max=478.3ms
+  task_specific_sample: mean=474.4ms, total=474.4ms, count=1, min=474.4ms, max=474.4ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=453.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.2us, 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 05:19:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:19:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:19:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:19:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:19:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 05:19:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:19:47 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 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032718m	[env.py: 870]
+05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:19:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91155052  0.30183688  0.03271776] yaw=167.7deg	[env.py: 1019]
+05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:19:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.66584789  0.68578997  0.03271776] yaw=-165.3deg	[env.py: 1019]
+05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:19:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=373.1ms, total=373.1ms	[env.py: 1075]
+05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.912, 0.302, 0.033)	[env.py: 1079]
+05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.7 deg	[env.py: 1082]
+05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/10 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:19:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:19:47 INFO: [Worker 0] Worker 0 house 1 episode 53/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:19:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:19:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 05:19:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:19:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:19:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.137s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:19:49 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.352[m] 85.691[deg]	[grasp_sample.py: 539]
+05/10 05:19:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:19:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:19:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:19:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:20:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:20:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:20:40 INFO: [Worker 0] Worker 0 house 1 episode 51 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:20:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:20:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:21:11 INFO: [Worker 0] Saved videos eagerly for episode 36 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:21:11 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 05:21:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 05:21:11 INFO: [Worker 0] Worker 0 house 1 episode 51 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:21:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:21:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:21:28 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.99s (batch: 5.14s, save: 11.85s)	[pipeline.py: 300]
+05/10 05:21:29 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.46s:
+  episode_total: mean=231.82s, total=231.82s, count=1, min=231816.3ms, max=231816.3ms
+  sensor_polling: mean=554.8ms, total=166.43s, count=300, min=464.8ms, max=1133.4ms
+  save_trajectories: mean=11.85s, total=11.85s, count=1, min=11853.2ms, max=11853.2ms
+  physics_step: mean=27.9ms, total=8.36s, count=300, min=19.8ms, max=136.0ms
+  save_batch_prep: mean=5.14s, total=5.14s, count=1, min=5135.1ms, max=5135.1ms
+  task_sampling: mean=458.4ms, total=458.4ms, count=1, min=458.4ms, max=458.4ms
+  task_specific_sample: mean=454.4ms, total=454.4ms, count=1, min=454.4ms, max=454.4ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=480.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 05:21:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:21:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:21:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:21:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:21:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:21:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:21:31 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 05:21:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:21:31 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 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010298m	[env.py: 870]
+05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:21:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.19310672  1.05235021 -0.01029786] yaw=-121.3deg	[env.py: 1019]
+05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8105927   0.32394911 -0.01029786] yaw=167.2deg	[env.py: 1019]
+05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.61075445  0.47704936 -0.01029786] yaw=174.7deg	[env.py: 1019]
+05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:21:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.9ms, total=92.9ms	[env.py: 1075]
+05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.193, 1.052, -0.010)	[env.py: 1079]
+05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.3 deg	[env.py: 1082]
+05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.765m	[env.py: 1086]
+05/10 05:21:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:21:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:21:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:21:31 INFO: [Worker 0] Worker 0 house 1 episode 52/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:21:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:21:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 05:21:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:21:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:21:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.596s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:21:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.324[m] 94.127[deg]	[grasp_sample.py: 539]
+05/10 05:21:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:21:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:21:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:21:37 INFO: [Worker 0] Saved videos eagerly for episode 38 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:21:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 05:21:37 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
+05/10 05:21:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:21:41 INFO: [Worker 0] Worker 0 house 1 episode 53 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:21:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:21:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:21:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:21:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:21:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:21:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:21:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:21:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:21:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.64s (batch: 4.92s, save: 10.72s)	[pipeline.py: 300]
+05/10 05:21:53 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.59s:
+  episode_total: mean=214.37s, total=214.37s, count=1, min=214369.5ms, max=214369.5ms
+  sensor_polling: mean=565.1ms, total=158.80s, count=281, min=478.6ms, max=1234.3ms
+  save_trajectories: mean=10.72s, total=10.72s, count=1, min=10717.0ms, max=10717.0ms
+  physics_step: mean=29.1ms, total=8.18s, count=281, min=20.2ms, max=104.8ms
+  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4920.4ms, max=4920.4ms
+  task_sampling: mean=590.4ms, total=590.4ms, count=1, min=590.4ms, max=590.4ms
+  task_specific_sample: mean=585.4ms, total=585.4ms, count=1, min=585.4ms, max=585.4ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=670.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 05:21:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:21:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 05:21:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 05:21:53 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 05:21:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:21:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:21:54 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.501s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:21:54 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.137[deg]	[grasp_sample.py: 539]
+05/10 05:21:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:21:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:21:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:21:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:21:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:21:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:21:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:21:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:21:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 05:21:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:21:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.050m, effective arm-mount z=0.810m (base_body_z=-0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.049743m	[env.py: 870]
+05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:21:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75587215  0.67945388 -0.04974334] yaw=-176.9deg	[env.py: 1019]
+05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7586185   0.86366688 -0.04974334] yaw=-150.3deg	[env.py: 1019]
+05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86733631  0.82668848 -0.04974334] yaw=-162.2deg	[env.py: 1019]
+05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:21:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.7ms, total=197.8ms	[env.py: 1075]
+05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.756, 0.679, -0.050)	[env.py: 1079]
+05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.9 deg	[env.py: 1082]
+05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m	[env.py: 1086]
+05/10 05:21:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:21:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:21:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:21:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:21:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:21:56 INFO: [Worker 0] Worker 0 house 1 episode 52/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:21:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:21:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 05:21:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:21:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:21:56 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 05:21:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.589s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:21:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.492[m] 81.940[deg]	[grasp_sample.py: 539]
+05/10 05:21:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:21:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:21:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:21:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:21:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:21:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:21:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:21:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:21:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:21:58 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 05:21:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:21:58 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 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024820m	[env.py: 870]
+05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:21:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00634219  0.90217333  0.02482029] yaw=-151.6deg	[env.py: 1019]
+05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98093759  0.45321566  0.02482029] yaw=168.2deg	[env.py: 1019]
+05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15361413  1.1342525   0.02482029] yaw=-134.6deg	[env.py: 1019]
+05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:21:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.7ms, total=145.8ms	[env.py: 1075]
+05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.006, 0.902, 0.025)	[env.py: 1079]
+05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.6 deg	[env.py: 1082]
+05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
+05/10 05:21:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:21:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:21:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:21:58 INFO: [Worker 0] Worker 0 house 1 episode 54/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:21:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:21:59 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 05:21:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:21:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:22:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.212s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:22:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.396[m] 91.988[deg]	[grasp_sample.py: 539]
+05/10 05:22:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:22:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:22:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:22:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:22:08 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:22:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 05:22:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 05:22:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:22:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:22:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:22:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:22:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.02s (batch: 4.55s, save: 11.46s)	[pipeline.py: 300]
+05/10 05:22:25 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=0.71s:
+  episode_total: mean=114.65s, total=229.30s, count=2, min=239.1ms, max=229062.7ms
+  sensor_polling: mean=564.4ms, total=169.31s, count=300, min=467.2ms, max=1177.7ms
+  save_trajectories: mean=11.46s, total=11.46s, count=1, min=11464.3ms, max=11464.3ms
+  physics_step: mean=28.0ms, total=8.41s, count=300, min=19.2ms, max=75.0ms
+  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4552.3ms, max=4552.3ms
+  task_specific_sample: mean=469.6ms, total=939.3ms, count=2, min=229.6ms, max=709.7ms
+  task_sampling: mean=712.7ms, total=712.7ms, count=1, min=712.7ms, max=712.7ms
+  task_sampling_failed: mean=239.1ms, total=239.1ms, count=1, min=239.1ms, max=239.1ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms
+  mj_forward_sync: mean=585.0us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
+  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 05:22:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:22:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:22:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:22:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:22:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:22:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:22:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:22:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:22:27 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 05:22:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:22:27 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 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046913m	[env.py: 870]
+05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:22:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90876566  1.06424289 -0.04691266] yaw=-140.1deg	[env.py: 1019]
+05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97937612  0.19791701 -0.04691266] yaw=168.7deg	[env.py: 1019]
+05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86936535  0.76823496 -0.04691266] yaw=-160.9deg	[env.py: 1019]
+05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:22:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=511.4ms, total=511.5ms	[env.py: 1075]
+05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 1.064, -0.047)	[env.py: 1079]
+05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.1 deg	[env.py: 1082]
+05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
+05/10 05:22:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:22:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:22:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:22:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:22:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:22:28 INFO: [Worker 0] Worker 0 house 1 episode 54/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:22:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.224s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:22:28 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 05:22:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:22:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:22:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.134s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:22:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.554[m] 81.593[deg]	[grasp_sample.py: 539]
+05/10 05:22:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:22:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:22:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:22:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:22:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:22:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:23:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:23:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:23:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:23:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:23:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:23:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:23:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:24:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:24:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:24:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:24:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:24:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:24:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:24:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:24:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 05:24:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 05:24:14 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 05:24:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:24:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:24:17 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.780s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:24:17 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.282[deg]	[grasp_sample.py: 539]
+05/10 05:24:18 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 05:24:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:24:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:24:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:24:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:24:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:24:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:24:20 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 05:24:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:24:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 05:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034375m	[env.py: 870]
+05/10 05:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:24:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79231557  0.41992837 -0.03437528] yaw=185.4deg	[env.py: 1019]
+05/10 05:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9922619   0.8437425  -0.03437528] yaw=-147.3deg	[env.py: 1019]
+05/10 05:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79316651  0.14174222 -0.03437528] yaw=165.3deg	[env.py: 1019]
+05/10 05:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:24:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=321.0ms, total=321.0ms	[env.py: 1075]
+05/10 05:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.792, 0.420, -0.034)	[env.py: 1079]
+05/10 05:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.4 deg	[env.py: 1082]
+05/10 05:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/10 05:24:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:24:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:24:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:24:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:24:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:24:21 INFO: [Worker 0] Worker 0 house 1 episode 53/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:24:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:24:21 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 05:24:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:24:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:24:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:24:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.489[m] 88.228[deg]	[grasp_sample.py: 539]
+05/10 05:24:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:24:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:24:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:24:58 INFO: [Worker 0] Worker 0 house 1 episode 52 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:25:00 INFO: [Worker 0] Worker 0 house 1 episode 54 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:25:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:25:20 INFO: [Worker 0] Saved videos eagerly for episode 39 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:25:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 05:25:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 05:25:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:25:22 INFO: [Worker 0] Saved videos eagerly for episode 36 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 05:25:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 05:25:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 05:25:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:25:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:25:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 05:25:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:25:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:25:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:25:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:25:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:25:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 05:25:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 05:25:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 05:25:33 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 05:25:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:25:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 05:25:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:25:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:25:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.05s (batch: 4.71s, save: 9.34s)	[pipeline.py: 300]
+05/10 05:25:35 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.981s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 05:25:35 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.363[deg]	[grasp_sample.py: 539]
+05/10 05:25:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 05:25:35 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.58s:
+  episode_total: mean=219.77s, total=219.77s, count=1, min=219769.6ms, max=219769.6ms
+  sensor_polling: mean=559.3ms, total=167.78s, count=300, min=468.4ms, max=1020.1ms
+  save_trajectories: mean=9.34s, total=9.34s, count=1, min=9343.6ms, max=9343.6ms
+  physics_step: mean=30.8ms, total=9.23s, count=300, min=19.6ms, max=104.1ms
+  save_batch_prep: mean=4.71s, total=4.71s, count=1, min=4710.1ms, max=4710.1ms
+  task_sampling: mean=580.7ms, total=580.7ms, count=1, min=580.7ms, max=580.7ms
+  task_specific_sample: mean=575.1ms, total=575.1ms, count=1, min=575.1ms, max=575.1ms
+  scene_randomize: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
+  mj_forward_sync: mean=772.5us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
+  policy_setup: mean=25.0us, 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 05:25:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 05:25:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 05:25:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 05:25:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 05:25:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.18s (batch: 4.41s, save: 9.77s)	[pipeline.py: 300]
+05/10 05:25:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 05:25:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 05:25:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 05:25:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:25:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:25:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:25:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:25:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 05:25:37 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 05:25:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 05:25:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033687m	[env.py: 870]
+05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 05:25:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88632746  1.13194304 -0.033687  ] yaw=-145.0deg	[env.py: 1019]
+05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99167637  1.00828059 -0.033687  ] yaw=-151.4deg	[env.py: 1019]
+05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.20470492  1.08874706 -0.033687  ] yaw=-128.2deg	[env.py: 1019]
+05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 05:25:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.7ms, total=125.8ms	[env.py: 1075]
+05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.886, 1.132, -0.034)	[env.py: 1079]
+05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.0 deg	[env.py: 1082]
+05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/10 05:25:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 05:25:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 05:25:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 05:25:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 05:25:37 INFO: [Worker 0] Worker 0 house 1 episode 54 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 05:25:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 05:25:37 INFO: [Worker 0] Worker 0 house 1 episode 53/240 collected=0/40	[pipeline.py: 1044]
+05/10 05:25:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/10 05:25:37 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 05:25:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 05:25:37 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=1.23s:
+  episode_total: mean=174.46s, total=348.92s, count=2, min=129414.6ms, max=219503.5ms
+  sensor_polling: mean=564.3ms, total=272.57s, count=483, min=469.2ms, max=1169.6ms
+  physics_step: mean=27.9ms, total=13.49s, count=483, min=19.3ms, max=105.0ms
+  save_trajectories: mean=9.77s, total=9.77s, count=1, min=9771.1ms, max=9771.1ms
+  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4413.6ms, max=4413.6ms
+  task_sampling: mean=613.9ms, total=1.23s, count=2, min=488.6ms, max=739.2ms
+  task_specific_sample: mean=610.1ms, total=1.22s, count=2, min=485.4ms, max=734.7ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.4ms, max=3.0ms
+  mj_forward_sync: mean=496.6us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.8us, 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 05:25:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]