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index 6fcdae2a7390a725c3be26b37fc3ead6381544da..037b27a4bd64f1beae76059c4714cdae45309579 100644
--- a/fridge_7/running_log.log
+++ b/fridge_7/running_log.log
@@ -30379,3 +30379,5323 @@
 	[open_close_planner_policy.py: 225]
 05/10 07:49:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
 05/10 07:49:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:49:03 INFO: [Worker 0] Saved videos eagerly for episode 73 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 07:49:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 07:49:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 07:49:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:49:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 07:49:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 07:49:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 07:49:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.13s (batch: 3.46s, save: 10.67s)	[pipeline.py: 300]
+05/10 07:49:18 INFO: [Worker 0] [PROFILE] Episode 104 house 1 success=True episode_total=2.96s:
+  episode_total: mean=143.10s, total=715.50s, count=5, min=79988.8ms, max=181120.2ms
+  sensor_polling: mean=468.7ms, total=576.55s, count=1230, min=388.3ms, max=954.2ms
+  physics_step: mean=21.9ms, total=26.92s, count=1230, min=13.9ms, max=110.6ms
+  save_trajectories: mean=10.67s, total=10.67s, count=1, min=10667.7ms, max=10667.7ms
+  save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3464.7ms, max=3464.7ms
+  task_sampling: mean=591.5ms, total=2.96s, count=5, min=414.5ms, max=865.8ms
+  task_specific_sample: mean=587.9ms, total=2.94s, count=5, min=411.7ms, max=862.2ms
+  scene_randomize: mean=1.6ms, total=8.1ms, count=5, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=437.2us, total=2.2ms, count=5, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.4us, 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 07:49:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 07:49:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 07:49:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 07:49:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:49:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:49:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 07:49:20 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 07:49:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 07:49:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024384m	[env.py: 870]
+05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 07:49:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65506544  0.7248321  -0.02438358] yaw=-160.4deg	[env.py: 1019]
+05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86001155  0.41467364 -0.02438358] yaw=173.6deg	[env.py: 1019]
+05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93241631  0.10680002 -0.02438358] yaw=148.1deg	[env.py: 1019]
+05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 07:49:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.3ms, total=213.3ms	[env.py: 1075]
+05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.655, 0.725, -0.024)	[env.py: 1079]
+05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg	[env.py: 1082]
+05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m	[env.py: 1086]
+05/10 07:49:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:49:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:49:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 07:49:21 INFO: [Worker 0] Worker 0 house 1 episode 105/240 collected=0/40	[pipeline.py: 1044]
+05/10 07:49:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
+05/10 07:49:21 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 07:49:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:49:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.155s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:49:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:49:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.989s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:49:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.646[m] 88.803[deg]	[grasp_sample.py: 539]
+05/10 07:49:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 07:49:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 07:49:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:49:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:49:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 07:49:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:50:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:50:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:50:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:50:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:50:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:50:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:50:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:50:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:50:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:50:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 07:50:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 07:50:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 07:50:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:50:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:50:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.559s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:50:33 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.354[deg]	[grasp_sample.py: 539]
+05/10 07:50:35 ERROR: [Worker 0] Worker 0 house 1 episode 102 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 07:50:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 07:50:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 07:50:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 07:50:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 07:50:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:50:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:50:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 07:50:36 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 07:50:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 07:50:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 07:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 07:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 07:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006977m	[env.py: 870]
+05/10 07:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 07:50:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67370955  0.29685439  0.00697728] yaw=175.9deg	[env.py: 1019]
+05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11270103  0.93999273  0.00697728] yaw=-131.0deg	[env.py: 1019]
+05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.84472785  0.30724288  0.00697728] yaw=171.3deg	[env.py: 1019]
+05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 07:50:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=426.2ms, total=426.2ms	[env.py: 1075]
+05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.674, 0.297, 0.007)	[env.py: 1079]
+05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.9 deg	[env.py: 1082]
+05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
+05/10 07:50:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:50:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:50:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:50:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:50:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 07:50:37 INFO: [Worker 0] Worker 0 house 1 episode 103/240 collected=0/40	[pipeline.py: 1044]
+05/10 07:50:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 07:50:37 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 07:50:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:50:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:50:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.419s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:50:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.624[m] 94.785[deg]	[grasp_sample.py: 539]
+05/10 07:50:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 07:50:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 07:50:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:50:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:51:03 INFO: [Worker 0] Worker 0 house 1 episode 105 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 07:51:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:51:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:51:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:51:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:51:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:51:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:51:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:51:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:51:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 07:51:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 07:51:19 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 07:51:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:51:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.127s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:51:22 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.051s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:51:22 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.300[deg]	[grasp_sample.py: 539]
+05/10 07:51:23 ERROR: [Worker 0] Worker 0 house 1 episode 106 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 07:51:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 07:51:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 07:51:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 07:51:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:51:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:51:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:51:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:51:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 07:51:25 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 07:51:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 07:51:25 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 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002799m	[env.py: 870]
+05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 07:51:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7178002   0.76695599  0.00279895] yaw=-155.4deg	[env.py: 1019]
+05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73150779  0.52497578  0.00279895] yaw=-178.3deg	[env.py: 1019]
+05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77067458  0.76483631  0.00279895] yaw=-171.0deg	[env.py: 1019]
+05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 07:51:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.4ms, total=90.4ms	[env.py: 1075]
+05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.718, 0.767, 0.003)	[env.py: 1079]
+05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.4 deg	[env.py: 1082]
+05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
+05/10 07:51:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:51:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:51:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:51:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:51:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 07:51:25 INFO: [Worker 0] Worker 0 house 1 episode 107/240 collected=0/40	[pipeline.py: 1044]
+05/10 07:51:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/10 07:51:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 07:51:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:51:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:51:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.503s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:51:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.558[m] 80.293[deg]	[grasp_sample.py: 539]
+05/10 07:51:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 07:51:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 07:51:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:51:29 INFO: [Worker 0] Saved videos eagerly for episode 71 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 07:51:29 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 07:51:29 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
+05/10 07:51:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 07:51:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 07:51:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.10s (batch: 4.12s, save: 7.98s)	[pipeline.py: 300]
+05/10 07:51:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:51:42 INFO: [Worker 0] [PROFILE] Episode 105 house 1 success=True episode_total=0.67s:
+  episode_total: mean=190.53s, total=190.53s, count=1, min=190530.9ms, max=190530.9ms
+  sensor_polling: mean=484.6ms, total=140.53s, count=290, min=401.7ms, max=850.3ms
+  save_trajectories: mean=7.98s, total=7.98s, count=1, min=7979.4ms, max=7979.4ms
+  physics_step: mean=22.2ms, total=6.44s, count=290, min=16.9ms, max=45.1ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4122.5ms, max=4122.5ms
+  task_sampling: mean=669.3ms, total=669.3ms, count=1, min=669.3ms, max=669.3ms
+  task_specific_sample: mean=658.2ms, total=658.2ms, count=1, min=658.2ms, max=658.2ms
+  scene_randomize: mean=4.7ms, total=4.7ms, count=1, min=4.7ms, max=4.7ms
+  mj_forward_sync: mean=542.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 07:51:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 07:51:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 07:51:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 07:51:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:51:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:51:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 07:51:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 07:51:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 07:51:44 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 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043357m	[env.py: 870]
+05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 07:51:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 127.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84982174  1.13349091 -0.04335668] yaw=-146.7deg	[env.py: 1019]
+05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.17587796  1.06364523 -0.04335668] yaw=-140.7deg	[env.py: 1019]
+05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 07:51:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=240.4ms, total=240.5ms	[env.py: 1075]
+05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.850, 1.133, -0.043)	[env.py: 1079]
+05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.7 deg	[env.py: 1082]
+05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m	[env.py: 1086]
+05/10 07:51:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:51:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:51:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 07:51:44 INFO: [Worker 0] Worker 0 house 1 episode 106/240 collected=0/40	[pipeline.py: 1044]
+05/10 07:51:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 07:51:44 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 07:51:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:51:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:51:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.366s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:51:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.687[m] 99.262[deg]	[grasp_sample.py: 539]
+05/10 07:51:49 ERROR: [Worker 0] Worker 0 house 1 episode 106 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 07:51:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 07:51:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 07:51:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 07:51:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:51:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:51:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 07:51:51 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 07:51:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 07:51:51 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 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000151m	[env.py: 870]
+05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 07:51:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-6.10434723e-01  4.91817806e-01 -1.50525032e-04] yaw=-168.3deg	[env.py: 1019]
+05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-6.34994998e-01  7.00075453e-01 -1.50525032e-04] yaw=-160.6deg	[env.py: 1019]
+05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 07:51:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=404.2ms, total=404.3ms	[env.py: 1075]
+05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.610, 0.492, -0.000)	[env.py: 1079]
+05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.3 deg	[env.py: 1082]
+05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
+05/10 07:51:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:51:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:51:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 07:51:51 INFO: [Worker 0] Worker 0 house 1 episode 107/240 collected=0/40	[pipeline.py: 1044]
+05/10 07:51:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/10 07:51:52 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 07:51:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:51:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:51:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 07:51:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.475s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:51:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.654[m] 90.045[deg]	[grasp_sample.py: 539]
+05/10 07:51:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 07:51:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 07:51:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:51:55 INFO: [Worker 0] Worker 0 house 1 episode 105 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 07:51:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:52:16 INFO: [Worker 0] Saved videos eagerly for episode 74 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 07:52:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 07:52:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 07:52:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:52:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 07:52:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 07:52:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 07:52:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.31s (batch: 4.04s, save: 10.27s)	[pipeline.py: 300]
+05/10 07:52:31 INFO: [Worker 0] [PROFILE] Episode 105 house 1 success=True episode_total=0.47s:
+  episode_total: mean=190.68s, total=190.68s, count=1, min=190677.4ms, max=190677.4ms
+  sensor_polling: mean=473.0ms, total=141.91s, count=300, min=399.3ms, max=902.7ms
+  save_trajectories: mean=10.27s, total=10.27s, count=1, min=10268.1ms, max=10268.1ms
+  physics_step: mean=20.9ms, total=6.26s, count=300, min=16.3ms, max=54.8ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4042.7ms, max=4042.7ms
+  task_sampling: mean=469.9ms, total=469.9ms, count=1, min=469.9ms, max=469.9ms
+  task_specific_sample: mean=466.2ms, total=466.2ms, count=1, min=466.2ms, max=466.2ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=438.4us, 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 07:52:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 07:52:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 07:52:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 07:52:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:52:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:52:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 07:52:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 07:52:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 07:52:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 07:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 07:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 07:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008298m	[env.py: 870]
+05/10 07:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 07:52:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 07:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00617873  0.96746525 -0.00829779] yaw=-148.8deg	[env.py: 1019]
+05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 133.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.18995664  0.97600765 -0.00829779] yaw=-137.0deg	[env.py: 1019]
+05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96781313  1.08136099 -0.00829779] yaw=-149.1deg	[env.py: 1019]
+05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 07:52:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.5ms, total=169.5ms	[env.py: 1075]
+05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.006, 0.967, -0.008)	[env.py: 1079]
+05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.8 deg	[env.py: 1082]
+05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
+05/10 07:52:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:52:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:52:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:52:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:52:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 07:52:33 INFO: [Worker 0] Worker 0 house 1 episode 106/240 collected=0/40	[pipeline.py: 1044]
+05/10 07:52:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/10 07:52:33 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 07:52:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:52:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:52:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.482s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:52:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.437[m] 88.726[deg]	[grasp_sample.py: 539]
+05/10 07:52:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 07:52:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 07:52:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:52:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:52:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:53:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 07:53:10 INFO: [Worker 0] Worker 0 house 1 episode 103 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 07:53:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:53:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:53:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 07:53:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:53:33 INFO: [Worker 0] Saved videos eagerly for episode 78 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 07:53:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 07:53:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 07:53:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 07:53:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 07:53:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.27s (batch: 4.04s, save: 8.23s)	[pipeline.py: 300]
+05/10 07:53:47 INFO: [Worker 0] [PROFILE] Episode 103 house 1 success=True episode_total=1.16s:
+  episode_total: mean=171.53s, total=343.06s, count=2, min=153018.0ms, max=190044.9ms
+  sensor_polling: mean=468.8ms, total=269.08s, count=574, min=385.0ms, max=876.1ms
+  physics_step: mean=22.6ms, total=12.94s, count=574, min=16.5ms, max=57.2ms
+  save_trajectories: mean=8.23s, total=8.23s, count=1, min=8227.4ms, max=8227.4ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4042.9ms, max=4042.9ms
+  task_sampling: mean=581.7ms, total=1.16s, count=2, min=465.6ms, max=697.9ms
+  task_specific_sample: mean=578.0ms, total=1.16s, count=2, min=461.5ms, max=694.4ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.4ms, max=2.4ms
+  mj_forward_sync: mean=513.0us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.1us, 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 07:53:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 07:53:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 07:53:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 07:53:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:53:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:53:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:53:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:53:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 07:53:48 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 07:53:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 07:53:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043382m	[env.py: 870]
+05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 07:53:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91750294  0.60379118  0.04338224] yaw=-163.5deg	[env.py: 1019]
+05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00342872  0.37941333  0.04338224] yaw=181.2deg	[env.py: 1019]
+05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75831635  0.52873705  0.04338224] yaw=-168.6deg	[env.py: 1019]
+05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 07:53:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.6ms, total=133.6ms	[env.py: 1075]
+05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.918, 0.604, 0.043)	[env.py: 1079]
+05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.5 deg	[env.py: 1082]
+05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.794m	[env.py: 1086]
+05/10 07:53:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:53:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:53:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:53:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:53:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 07:53:48 INFO: [Worker 0] Worker 0 house 1 episode 104/240 collected=0/40	[pipeline.py: 1044]
+05/10 07:53:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 07:53:49 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 07:53:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:53:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:53:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.457s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:53:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.386[m] 90.756[deg]	[grasp_sample.py: 539]
+05/10 07:53:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 07:53:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 07:53:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:53:54 INFO: [Worker 0] Worker 0 house 1 episode 107 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 07:54:21 INFO: [Worker 0] Saved videos eagerly for episode 78 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 07:54:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 07:54:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 07:54:23 INFO: [Worker 0] Worker 0 house 1 episode 107 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 07:54:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:54:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 07:54:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 07:54:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.40s (batch: 3.68s, save: 8.71s)	[pipeline.py: 300]
+05/10 07:54:35 INFO: [Worker 0] [PROFILE] Episode 107 house 1 success=True episode_total=1.18s:
+  episode_total: mean=112.18s, total=336.55s, count=3, min=3013.1ms, max=189485.5ms
+  sensor_polling: mean=467.0ms, total=256.38s, count=549, min=391.0ms, max=968.6ms
+  physics_step: mean=21.5ms, total=11.78s, count=549, min=13.9ms, max=53.7ms
+  save_trajectories: mean=8.71s, total=8.71s, count=1, min=8715.0ms, max=8715.0ms
+  save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3681.3ms, max=3681.3ms
+  task_sampling: mean=394.1ms, total=1.18s, count=3, min=321.5ms, max=473.3ms
+  task_specific_sample: mean=390.9ms, total=1.17s, count=3, min=318.5ms, max=470.2ms
+  scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.3ms, max=2.4ms
+  mj_forward_sync: mean=417.9us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 07:54:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 07:54:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 07:54:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 07:54:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:54:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:54:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 07:54:37 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 07:54:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 07:54:37 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 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034860m	[env.py: 870]
+05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 07:54:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88163103  1.00704365  0.03486018] yaw=-143.3deg	[env.py: 1019]
+05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69723163  0.20182029  0.03486018] yaw=161.1deg	[env.py: 1019]
+05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75970347  0.58003811  0.03486018] yaw=-173.4deg	[env.py: 1019]
+05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 07:54:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=334.8ms, total=334.9ms	[env.py: 1075]
+05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.882, 1.007, 0.035)	[env.py: 1079]
+05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.3 deg	[env.py: 1082]
+05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m	[env.py: 1086]
+05/10 07:54:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:54:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:54:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 07:54:38 INFO: [Worker 0] Worker 0 house 1 episode 108/240 collected=0/40	[pipeline.py: 1044]
+05/10 07:54:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/10 07:54:38 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 07:54:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:54:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:54:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 07:54:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.984s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:54:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.512[m] 80.207[deg]	[grasp_sample.py: 539]
+05/10 07:54:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 07:54:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 07:54:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:54:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:54:50 INFO: [Worker 0] Saved videos eagerly for episode 72 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 07:54:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 07:54:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 07:55:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 07:55:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 07:55:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.60s (batch: 4.08s, save: 7.53s)	[pipeline.py: 300]
+05/10 07:55:03 INFO: [Worker 0] [PROFILE] Episode 107 house 1 success=True episode_total=1.17s:
+  episode_total: mean=98.64s, total=197.29s, count=2, min=5384.1ms, max=191903.4ms
+  sensor_polling: mean=464.8ms, total=139.43s, count=300, min=389.2ms, max=802.4ms
+  save_trajectories: mean=7.53s, total=7.53s, count=1, min=7528.0ms, max=7528.0ms
+  physics_step: mean=21.5ms, total=6.46s, count=300, min=16.5ms, max=76.9ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4076.3ms, max=4076.3ms
+  task_sampling: mean=586.7ms, total=1.17s, count=2, min=512.9ms, max=660.5ms
+  task_specific_sample: mean=583.5ms, total=1.17s, count=2, min=509.5ms, max=657.6ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.2ms, max=2.2ms
+  mj_forward_sync: mean=421.7us, total=0.8ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 07:55:04 INFO: [Worker 0] Worker 0 house 1 episode 106 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 07:55:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 07:55:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 07:55:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 07:55:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:55:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:55:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:55:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:55:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 07:55:04 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 07:55:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 07:55:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024615m	[env.py: 870]
+05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 07:55:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01532467  1.12420052 -0.02461509] yaw=-126.9deg	[env.py: 1019]
+05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6327118   0.45866883 -0.02461509] yaw=188.2deg	[env.py: 1019]
+05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05151188  1.15230033 -0.02461509] yaw=-124.7deg	[env.py: 1019]
+05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 07:55:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.3ms, total=76.3ms	[env.py: 1075]
+05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.015, 1.124, -0.025)	[env.py: 1079]
+05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.9 deg	[env.py: 1082]
+05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/10 07:55:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:55:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:55:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:55:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:55:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 07:55:05 INFO: [Worker 0] Worker 0 house 1 episode 108/240 collected=0/40	[pipeline.py: 1044]
+05/10 07:55:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 07:55:05 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 07:55:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:55:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:55:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.513s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:55:06 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.511[m] 88.555[deg]	[grasp_sample.py: 539]
+05/10 07:55:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 07:55:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 07:55:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:55:28 INFO: [Worker 0] Saved videos eagerly for episode 75 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 07:55:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 07:55:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 07:55:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:55:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 07:55:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 07:55:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 07:55:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.99s (batch: 4.59s, save: 11.39s)	[pipeline.py: 300]
+05/10 07:55:44 INFO: [Worker 0] [PROFILE] Episode 106 house 1 success=True episode_total=0.42s:
+  episode_total: mean=192.03s, total=192.03s, count=1, min=192032.5ms, max=192032.5ms
+  sensor_polling: mean=468.4ms, total=140.51s, count=300, min=398.5ms, max=835.1ms
+  save_trajectories: mean=11.39s, total=11.39s, count=1, min=11393.9ms, max=11393.9ms
+  physics_step: mean=21.8ms, total=6.54s, count=300, min=13.9ms, max=96.7ms
+  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4594.3ms, max=4594.3ms
+  task_sampling: mean=421.3ms, total=421.3ms, count=1, min=421.3ms, max=421.3ms
+  task_specific_sample: mean=418.0ms, total=418.0ms, count=1, min=418.0ms, max=418.0ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=426.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.0us, 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 07:55:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:55:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 07:55:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 07:55:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 07:55:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:55:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:55:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 07:55:46 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 07:55:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 07:55:46 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 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021984m	[env.py: 870]
+05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 07:55:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8081813   0.28752753 -0.0219844 ] yaw=174.7deg	[env.py: 1019]
+05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77959647  1.06546306 -0.0219844 ] yaw=-154.5deg	[env.py: 1019]
+05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84286777  0.39767234 -0.0219844 ] yaw=172.6deg	[env.py: 1019]
+05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 07:55:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.0ms, total=116.0ms	[env.py: 1075]
+05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.808, 0.288, -0.022)	[env.py: 1079]
+05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.7 deg	[env.py: 1082]
+05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
+05/10 07:55:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:55:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:55:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 07:55:47 INFO: [Worker 0] Worker 0 house 1 episode 107/240 collected=0/40	[pipeline.py: 1044]
+05/10 07:55:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 07:55:47 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 07:55:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:55:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:55:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.484s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:55:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.444[m] 85.718[deg]	[grasp_sample.py: 539]
+05/10 07:55:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 07:55:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 07:55:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:55:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:56:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 07:56:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:56:25 INFO: [Worker 0] Worker 0 house 1 episode 104 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 07:56:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:56:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 07:56:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:56:51 INFO: [Worker 0] Saved videos eagerly for episode 79 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 07:56:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 07:56:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 07:57:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 07:57:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 07:57:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.31s (batch: 4.11s, save: 10.19s)	[pipeline.py: 300]
+05/10 07:57:06 INFO: [Worker 0] [PROFILE] Episode 104 house 1 success=True episode_total=0.38s:
+  episode_total: mean=197.63s, total=197.63s, count=1, min=197625.3ms, max=197625.3ms
+  sensor_polling: mean=479.0ms, total=143.69s, count=300, min=404.7ms, max=831.3ms
+  save_trajectories: mean=10.19s, total=10.19s, count=1, min=10190.8ms, max=10190.8ms
+  physics_step: mean=22.9ms, total=6.87s, count=300, min=13.4ms, max=92.9ms
+  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4114.9ms, max=4114.9ms
+  task_sampling: mean=376.5ms, total=376.5ms, count=1, min=376.5ms, max=376.5ms
+  task_specific_sample: mean=373.2ms, total=373.2ms, count=1, min=373.2ms, max=373.2ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=386.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.2us, 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 07:57:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 07:57:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 07:57:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 07:57:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:57:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:57:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:57:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:57:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 07:57:07 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 07:57:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 07:57:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027621m	[env.py: 870]
+05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 07:57:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0772043   1.06922718  0.02762079] yaw=-138.0deg	[env.py: 1019]
+05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72077127  0.65327703  0.02762079] yaw=-175.4deg	[env.py: 1019]
+05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92848753  0.60938047  0.02762079] yaw=-173.3deg	[env.py: 1019]
+05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 07:57:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.7ms, total=159.7ms	[env.py: 1075]
+05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.077, 1.069, 0.028)	[env.py: 1079]
+05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.0 deg	[env.py: 1082]
+05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/10 07:57:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:57:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:57:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:57:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:57:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 07:57:08 INFO: [Worker 0] Worker 0 house 1 episode 105/240 collected=0/40	[pipeline.py: 1044]
+05/10 07:57:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 07:57:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 07:57:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:57:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:57:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.550s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:57:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.388[m] 79.806[deg]	[grasp_sample.py: 539]
+05/10 07:57:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 07:57:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 07:57:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:57:09 INFO: [Worker 0] Worker 0 house 1 episode 108 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 07:57:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:57:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:57:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:57:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:57:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:57:33 INFO: [Worker 0] Saved videos eagerly for episode 79 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 07:57:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 07:57:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 07:57:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:57:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:57:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:57:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 07:57:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 07:57:37 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 07:57:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:57:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:57:39 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.455s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 07:57:39 ERROR: [Worker 0] Worker 0 house 1 episode 108 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 07:57:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 07:57:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 07:57:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 07:57:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:57:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:57:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 07:57:40 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 07:57:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 07:57:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035350m	[env.py: 870]
+05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 07:57:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97239233  0.10411686 -0.03534961] yaw=150.6deg	[env.py: 1019]
+05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75356522  0.39212204 -0.03534961] yaw=185.4deg	[env.py: 1019]
+05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02981332  0.28607511 -0.03534961] yaw=162.9deg	[env.py: 1019]
+05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 07:57:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.9ms, total=109.0ms	[env.py: 1075]
+05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.104, -0.035)	[env.py: 1079]
+05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.6 deg	[env.py: 1082]
+05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
+05/10 07:57:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:57:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:57:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 07:57:41 INFO: [Worker 0] Worker 0 house 1 episode 109/240 collected=0/40	[pipeline.py: 1044]
+05/10 07:57:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 07:57:41 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 07:57:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:57:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:57:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.852s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:57:42 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.419[m] 94.876[deg]	[grasp_sample.py: 539]
+05/10 07:57:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 07:57:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 07:57:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:57:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:57:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 07:57:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 07:57:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.10s (batch: 3.79s, save: 9.31s)	[pipeline.py: 300]
+05/10 07:57:47 INFO: [Worker 0] [PROFILE] Episode 108 house 1 success=True episode_total=0.62s:
+  episode_total: mean=189.74s, total=189.74s, count=1, min=189744.9ms, max=189744.9ms
+  sensor_polling: mean=456.9ms, total=137.08s, count=300, min=394.8ms, max=686.4ms
+  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9307.7ms, max=9307.7ms
+  physics_step: mean=21.9ms, total=6.57s, count=300, min=16.6ms, max=76.1ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3792.4ms, max=3792.4ms
+  task_sampling: mean=616.6ms, total=616.6ms, count=1, min=616.6ms, max=616.6ms
+  task_specific_sample: mean=608.7ms, total=608.7ms, count=1, min=608.7ms, max=608.7ms
+  scene_randomize: mean=6.5ms, total=6.5ms, count=1, min=6.5ms, max=6.5ms
+  mj_forward_sync: mean=461.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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 07:57:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 07:57:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 07:57:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 07:57:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:57:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:57:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:57:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:57:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 07:57:48 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 07:57:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 07:57:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 07:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 07:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 07:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019121m	[env.py: 870]
+05/10 07:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 07:57:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 07:57:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96566076  1.12203406 -0.01912109] yaw=-135.9deg	[env.py: 1019]
+05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.14302909  1.08246219 -0.01912109] yaw=-141.2deg	[env.py: 1019]
+05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78885744  0.23159731 -0.01912109] yaw=155.2deg	[env.py: 1019]
+05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 07:57:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=543.3ms, total=543.4ms	[env.py: 1075]
+05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.966, 1.122, -0.019)	[env.py: 1079]
+05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.9 deg	[env.py: 1082]
+05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
+05/10 07:57:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:57:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:57:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:57:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:57:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 07:57:49 INFO: [Worker 0] Worker 0 house 1 episode 109/240 collected=0/40	[pipeline.py: 1044]
+05/10 07:57:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 07:57:49 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 07:57:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:57:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:57:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:57:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.558s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:57:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.516[m] 82.646[deg]	[grasp_sample.py: 539]
+05/10 07:57:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:57:52 ERROR: [Worker 0] Worker 0 house 1 episode 109 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 07:57:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:57:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 07:57:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 07:57:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:57:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 07:57:54 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 07:57:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 07:57:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003611m	[env.py: 870]
+05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 07:57:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68850868  0.87420624  0.00361133] yaw=-159.4deg	[env.py: 1019]
+05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7490022   0.19234529  0.00361133] yaw=164.7deg	[env.py: 1019]
+05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96662738  0.23081752  0.00361133] yaw=172.2deg	[env.py: 1019]
+05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 07:57:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.8ms, total=70.8ms	[env.py: 1075]
+05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.689, 0.874, 0.004)	[env.py: 1079]
+05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.4 deg	[env.py: 1082]
+05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
+05/10 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:57:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 07:57:54 INFO: [Worker 0] Worker 0 house 1 episode 110/240 collected=0/40	[pipeline.py: 1044]
+05/10 07:57:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/10 07:57:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 07:57:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:57:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:57:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:57:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 07:57:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.433s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:57:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.642[m] 88.399[deg]	[grasp_sample.py: 539]
+05/10 07:57:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:57:57 ERROR: [Worker 0] Worker 0 house 1 episode 110 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 07:57:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:57:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 07:57:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 07:57:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 07:57:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:57:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:57:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 07:57:58 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 07:57:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 07:57:58 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 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031143m	[env.py: 870]
+05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 07:57:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62918496  0.70971023  0.03114331] yaw=-156.6deg	[env.py: 1019]
+05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.61705869  0.36882602  0.03114331] yaw=182.8deg	[env.py: 1019]
+05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91682451  0.57016545  0.03114331] yaw=-172.6deg	[env.py: 1019]
+05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 07:57:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=227.4ms, total=227.5ms	[env.py: 1075]
+05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.629, 0.710, 0.031)	[env.py: 1079]
+05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.6 deg	[env.py: 1082]
+05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m	[env.py: 1086]
+05/10 07:57:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:57:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:57:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 07:57:59 INFO: [Worker 0] Worker 0 house 1 episode 111/240 collected=0/40	[pipeline.py: 1044]
+05/10 07:57:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/10 07:57:59 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 07:57:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:57:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:57:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:57:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:57:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 07:57:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 07:57:59 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 07:57:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:57:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:58:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.077s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:58:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.664[m] 88.420[deg]	[grasp_sample.py: 539]
+05/10 07:58:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 07:58:00 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.378s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:58:00 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.885[deg]	[grasp_sample.py: 539]
+05/10 07:58:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 07:58:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 07:58:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:58:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 07:58:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:58:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:58:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 07:58:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 07:58:01 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 07:58:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:58:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:58:02 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.375s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:58:02 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.862[deg]	[grasp_sample.py: 539]
+05/10 07:58:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 07:58:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 07:58:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:58:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:10	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:58:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 07:58:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 07:58:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 07:58:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:58:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:58:04 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.402s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:58:04 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.854[deg]	[grasp_sample.py: 539]
+05/10 07:58:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 07:58:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 07:58:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:58:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:58:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:58:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:58:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 07:58:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:58:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:58:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 07:58:33 INFO: [Worker 0] Worker 0 house 1 episode 107 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 07:58:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:58:56 INFO: [Worker 0] Saved videos eagerly for episode 76 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 07:58:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 07:58:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 07:59:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:59:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 07:59:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 07:59:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.12s (batch: 3.95s, save: 9.17s)	[pipeline.py: 300]
+05/10 07:59:10 INFO: [Worker 0] [PROFILE] Episode 107 house 1 success=True episode_total=0.39s:
+  episode_total: mean=203.86s, total=203.86s, count=1, min=203859.4ms, max=203859.4ms
+  sensor_polling: mean=472.5ms, total=141.74s, count=300, min=392.6ms, max=802.7ms
+  save_trajectories: mean=9.17s, total=9.17s, count=1, min=9167.7ms, max=9167.7ms
+  physics_step: mean=22.4ms, total=6.71s, count=300, min=12.8ms, max=56.7ms
+  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3950.3ms, max=3950.3ms
+  task_sampling: mean=390.4ms, total=390.4ms, count=1, min=390.4ms, max=390.4ms
+  task_specific_sample: mean=387.0ms, total=387.0ms, count=1, min=387.0ms, max=387.0ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=369.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 07:59:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 07:59:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 07:59:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 07:59:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:59:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:59:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:59:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:59:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 07:59:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 07:59:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 07:59:12 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 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017719m	[env.py: 870]
+05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 07:59:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10841638  1.10955991 -0.01771863] yaw=-130.8deg	[env.py: 1019]
+05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81747241  0.40805416 -0.01771863] yaw=173.3deg	[env.py: 1019]
+05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 07:59:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=304.1ms, total=304.2ms	[env.py: 1075]
+05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.108, 1.110, -0.018)	[env.py: 1079]
+05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.8 deg	[env.py: 1082]
+05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
+05/10 07:59:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:59:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:59:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:59:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:59:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 07:59:12 INFO: [Worker 0] Worker 0 house 1 episode 108/240 collected=0/40	[pipeline.py: 1044]
+05/10 07:59:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/10 07:59:12 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 07:59:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:59:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:59:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.549s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:59:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.422[m] 84.552[deg]	[grasp_sample.py: 539]
+05/10 07:59:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 07:59:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 07:59:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:59:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 07:59:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:59:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:59:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:59:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:59:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:59:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:59:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:59:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:59:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:59:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 07:59:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 07:59:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 07:59:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:59:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:59:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.522s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:59:30 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.285[deg]	[grasp_sample.py: 539]
+05/10 07:59:31 ERROR: [Worker 0] Worker 0 house 1 episode 105 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 07:59:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 07:59:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 07:59:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 07:59:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:59:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:59:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:59:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:59:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 07:59:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 07:59:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 07:59:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024172m	[env.py: 870]
+05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 07:59:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92637242  0.51557    -0.02417179] yaw=-166.1deg	[env.py: 1019]
+05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98818975  0.41766188 -0.02417179] yaw=183.0deg	[env.py: 1019]
+05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 07:59:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=430.9ms, total=430.9ms	[env.py: 1075]
+05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.516, -0.024)	[env.py: 1079]
+05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.1 deg	[env.py: 1082]
+05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.777m	[env.py: 1086]
+05/10 07:59:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:59:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:59:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:59:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:59:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 07:59:34 INFO: [Worker 0] Worker 0 house 1 episode 106/240 collected=0/40	[pipeline.py: 1044]
+05/10 07:59:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/10 07:59:34 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 07:59:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:59:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:59:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.858s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:59:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.354[m] 90.343[deg]	[grasp_sample.py: 539]
+05/10 07:59:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 07:59:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 07:59:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:59:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:00:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:00:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:00:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:00:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:00:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:00:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:00:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:00:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:00:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:00:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:00:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:00:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:00:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:00:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:00:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:00:27 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 08:00:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:00:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:00:28 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.860s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:00:28 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.241[deg]	[grasp_sample.py: 539]
+05/10 08:00:29 ERROR: [Worker 0] Worker 0 house 1 episode 109 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 08:00:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:00:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:00:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:00:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:00:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:00:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:00:31 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 08:00:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:00:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.027m, effective arm-mount z=0.833m (base_body_z=-0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026932m	[env.py: 870]
+05/10 08:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:00:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:00:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.9ms, total=205.0ms	[env.py: 1105]
+05/10 08:00:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/10 08:00:31 ERROR: [Worker 0] Worker 0 house 1 episode 110 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/10 08:00:32 INFO: [Worker 0] Worker 0 house 1 episode 111 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:00:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:00:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:00:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:00:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:00:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:00:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:00:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:00:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:00:33 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 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034454m	[env.py: 870]
+05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:00:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98793964  1.29388669  0.03445436] yaw=-137.1deg	[env.py: 1019]
+05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77278763  0.45763014  0.03445436] yaw=180.9deg	[env.py: 1019]
+05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83432878  0.1931617   0.03445436] yaw=170.1deg	[env.py: 1019]
+05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:00:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.7ms, total=111.8ms	[env.py: 1075]
+05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.988, 1.294, 0.034)	[env.py: 1079]
+05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.1 deg	[env.py: 1082]
+05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
+05/10 08:00:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:00:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:00:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:00:33 INFO: [Worker 0] Worker 0 house 1 episode 111/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:00:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:00:33 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 08:00:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:00:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:00:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.798s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 08:00:35 ERROR: [Worker 0] Worker 0 house 1 episode 111 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 08:00:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:00:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:00:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:00:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:00:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:00:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:00:37 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 08:00:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:00:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.032m, effective arm-mount z=0.828m (base_body_z=-0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032405m	[env.py: 870]
+05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:00:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92712971  0.62188181 -0.03240464] yaw=-164.8deg	[env.py: 1019]
+05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89973314  0.31739723 -0.03240464] yaw=171.9deg	[env.py: 1019]
+05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:00:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=153.6ms, total=153.7ms	[env.py: 1075]
+05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.622, -0.032)	[env.py: 1079]
+05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.8 deg	[env.py: 1082]
+05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.788m	[env.py: 1086]
+05/10 08:00:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:00:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:00:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:00:37 INFO: [Worker 0] Worker 0 house 1 episode 112/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:00:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:00:37 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 08:00:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:00:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:00:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:00:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.326[m] 80.579[deg]	[grasp_sample.py: 539]
+05/10 08:00:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:00:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:00:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:00:57 INFO: [Worker 0] Saved videos eagerly for episode 80 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:00:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 08:00:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:01:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:01:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:01:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.68s (batch: 3.92s, save: 7.76s)	[pipeline.py: 300]
+05/10 08:01:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:01:10 INFO: [Worker 0] [PROFILE] Episode 111 house 1 success=True episode_total=1.62s:
+  episode_total: mean=66.00s, total=198.01s, count=3, min=2749.6ms, max=191452.1ms
+  sensor_polling: mean=472.8ms, total=141.84s, count=300, min=398.2ms, max=772.0ms
+  save_trajectories: mean=7.76s, total=7.76s, count=1, min=7755.2ms, max=7755.2ms
+  physics_step: mean=22.1ms, total=6.62s, count=300, min=16.7ms, max=56.5ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3923.2ms, max=3923.2ms
+  task_sampling: mean=541.0ms, total=1.62s, count=3, min=302.1ms, max=875.2ms
+  task_specific_sample: mean=537.8ms, total=1.61s, count=3, min=299.4ms, max=870.8ms
+  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.1ms, max=2.9ms
+  mj_forward_sync: mean=476.4us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.3us, 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 08:01:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:01:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:01:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:01:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:01:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:01:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:01:11 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 08:01:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:01:11 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 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006537m	[env.py: 870]
+05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:01:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80535298  0.75267767 -0.00653732] yaw=-152.1deg	[env.py: 1019]
+05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92443357  0.57177343 -0.00653732] yaw=-179.4deg	[env.py: 1019]
+05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12628838  1.02724944 -0.00653732] yaw=-127.1deg	[env.py: 1019]
+05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:01:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=268.7ms, total=268.8ms	[env.py: 1075]
+05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.805, 0.753, -0.007)	[env.py: 1079]
+05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg	[env.py: 1082]
+05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
+05/10 08:01:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:01:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:01:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:01:12 INFO: [Worker 0] Worker 0 house 1 episode 112/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:01:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:01:12 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 08:01:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:01:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:01:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.192s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:01:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.537[m] 93.328[deg]	[grasp_sample.py: 539]
+05/10 08:01:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:01:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:01:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:01:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:01:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:01:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:01:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:01:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:01:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:01:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:01:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:01:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:01:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:01:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:01:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:01:33 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 08:01:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:01:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:01:35 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.136s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:01:35 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.352[deg]	[grasp_sample.py: 539]
+05/10 08:01:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:01:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:01:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:01:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:01:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:01:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:01:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:01:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:01:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:01:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:01:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:01:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:01:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:01:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:01:48 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 08:01:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:01:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:01:49 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.397s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:01:49 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.594[deg]	[grasp_sample.py: 539]
+05/10 08:01:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:01:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:01:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:01:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:02:01 INFO: [Worker 0] Worker 0 house 1 episode 108 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:02:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:02:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:02:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:02:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:02:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:02:20 INFO: [Worker 0] Saved videos eagerly for episode 77 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:02:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 08:02:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:02:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:02:31 INFO: [Worker 0] Worker 0 house 1 episode 106 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:02:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:02:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:02:31 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.13s (batch: 3.77s, save: 7.35s)	[pipeline.py: 300]
+05/10 08:02:32 INFO: [Worker 0] [PROFILE] Episode 108 house 1 success=True episode_total=0.60s:
+  episode_total: mean=200.28s, total=200.28s, count=1, min=200282.4ms, max=200282.4ms
+  sensor_polling: mean=477.3ms, total=143.20s, count=300, min=387.6ms, max=815.9ms
+  save_trajectories: mean=7.35s, total=7.35s, count=1, min=7352.9ms, max=7352.9ms
+  physics_step: mean=22.3ms, total=6.70s, count=300, min=16.5ms, max=49.2ms
+  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3774.7ms, max=3774.7ms
+  task_sampling: mean=602.1ms, total=602.1ms, count=1, min=602.1ms, max=602.1ms
+  task_specific_sample: mean=598.5ms, total=598.5ms, count=1, min=598.5ms, max=598.5ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=424.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:02:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:02:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:02:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:02:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:02:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:02:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:02:34 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 08:02:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:02:34 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 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.016344m	[env.py: 870]
+05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:02:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8608763   0.58505137 -0.01634432] yaw=-163.5deg	[env.py: 1019]
+05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82444066  0.68576079 -0.01634432] yaw=-162.0deg	[env.py: 1019]
+05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72095761  0.4072764  -0.01634432] yaw=169.9deg	[env.py: 1019]
+05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:02:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.1ms, total=105.1ms	[env.py: 1075]
+05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.861, 0.585, -0.016)	[env.py: 1079]
+05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.5 deg	[env.py: 1082]
+05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
+05/10 08:02:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:02:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:02:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:02:34 INFO: [Worker 0] Worker 0 house 1 episode 109/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:02:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:02:34 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 08:02:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:02:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:02:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.833s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:02:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.460[m] 93.588[deg]	[grasp_sample.py: 539]
+05/10 08:02:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:02:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:02:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:02:52 INFO: [Worker 0] Saved videos eagerly for episode 80 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:02:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 08:02:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:03:03 INFO: [Worker 0] Worker 0 house 1 episode 112 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:03:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:03:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:03:06 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.21s (batch: 4.04s, save: 9.18s)	[pipeline.py: 300]
+05/10 08:03:06 INFO: [Worker 0] [PROFILE] Episode 106 house 1 success=True episode_total=1.12s:
+  episode_total: mean=178.72s, total=357.44s, count=2, min=143841.2ms, max=213600.5ms
+  sensor_polling: mean=473.5ms, total=265.65s, count=561, min=402.0ms, max=935.7ms
+  physics_step: mean=21.9ms, total=12.27s, count=561, min=16.6ms, max=68.3ms
+  save_trajectories: mean=9.18s, total=9.18s, count=1, min=9177.2ms, max=9177.2ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4035.2ms, max=4035.2ms
+  task_sampling: mean=557.8ms, total=1.12s, count=2, min=455.7ms, max=659.9ms
+  task_specific_sample: mean=554.4ms, total=1.11s, count=2, min=452.4ms, max=656.4ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.6ms, max=2.1ms
+  mj_forward_sync: mean=463.9us, total=0.9ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:03:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:03:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:03:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:03:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:03:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:03:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:03:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:03:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:03:08 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 08:03:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:03:08 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 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001454m	[env.py: 870]
+05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:03:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93691173  1.23958612 -0.00145398] yaw=-140.5deg	[env.py: 1019]
+05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88078332  0.91722107 -0.00145398] yaw=-157.5deg	[env.py: 1019]
+05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97438877  1.00816909 -0.00145398] yaw=-147.6deg	[env.py: 1019]
+05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:03:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=78.4ms, total=78.4ms	[env.py: 1075]
+05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.937, 1.240, -0.001)	[env.py: 1079]
+05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.5 deg	[env.py: 1082]
+05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
+05/10 08:03:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:03:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:03:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:03:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:03:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:03:08 INFO: [Worker 0] Worker 0 house 1 episode 107/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:03:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:03:09 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 08:03:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:03:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:03:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.490s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 08:03:10 ERROR: [Worker 0] Worker 0 house 1 episode 107 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 08:03:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:03:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:03:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:03:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:03:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:03:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:03:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:03:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:03:12 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 08:03:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:03:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015325m	[env.py: 870]
+05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:03:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64205469  0.69222918 -0.0153247 ] yaw=-172.4deg	[env.py: 1019]
+05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89153192  0.96781741 -0.0153247 ] yaw=-158.4deg	[env.py: 1019]
+05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.70777362  0.17887165 -0.0153247 ] yaw=170.0deg	[env.py: 1019]
+05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:03:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.8ms, total=223.8ms	[env.py: 1075]
+05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.642, 0.692, -0.015)	[env.py: 1079]
+05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.4 deg	[env.py: 1082]
+05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
+05/10 08:03:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:03:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:03:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:03:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:03:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:03:12 INFO: [Worker 0] Worker 0 house 1 episode 108/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:03:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:03:12 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 08:03:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:03:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:03:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.474s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:03:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.684[m] 99.754[deg]	[grasp_sample.py: 539]
+05/10 08:03:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:03:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:03:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:03:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:03:28 INFO: [Worker 0] Saved videos eagerly for episode 73 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:03:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 08:03:28 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/10 08:03:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:03:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:03:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:03:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:03:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.38s (batch: 4.06s, save: 9.33s)	[pipeline.py: 300]
+05/10 08:03:42 INFO: [Worker 0] [PROFILE] Episode 112 house 1 success=True episode_total=1.54s:
+  episode_total: mean=102.20s, total=510.98s, count=5, min=217.6ms, max=185273.6ms
+  sensor_polling: mean=471.6ms, total=400.89s, count=850, min=390.4ms, max=914.4ms
+  physics_step: mean=22.0ms, total=18.71s, count=850, min=13.3ms, max=73.1ms
+  save_trajectories: mean=9.33s, total=9.33s, count=1, min=9326.4ms, max=9326.4ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4058.1ms, max=4058.1ms
+  task_specific_sample: mean=348.1ms, total=1.74s, count=5, min=211.2ms, max=429.2ms
+  task_sampling: mean=385.8ms, total=1.54s, count=4, min=345.8ms, max=432.2ms
+  task_sampling_failed: mean=217.6ms, total=217.6ms, count=1, min=217.6ms, max=217.6ms
+  scene_randomize: mean=1.8ms, total=8.9ms, count=5, min=1.3ms, max=2.4ms
+  mj_forward_sync: mean=484.5us, total=2.4ms, count=5, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.3us, total=0.1ms, count=4, 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 08:03:43 INFO: [Worker 0] Worker 0 house 1 episode 112 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:03:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:03:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:03:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:03:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:03:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:03:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:03:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:03:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:03:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:03:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:03:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013362m	[env.py: 870]
+05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:03:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.71900032  0.07203212 -0.01336236] yaw=155.7deg	[env.py: 1019]
+05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:03:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.7ms, total=215.7ms	[env.py: 1075]
+05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.719, 0.072, -0.013)	[env.py: 1079]
+05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.7 deg	[env.py: 1082]
+05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
+05/10 08:03:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:03:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:03:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:03:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:03:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:03:44 INFO: [Worker 0] Worker 0 house 1 episode 113/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:03:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:03:44 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 08:03:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:03:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:03:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.567s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:03:46 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.667[m] 101.204[deg]	[grasp_sample.py: 539]
+05/10 08:03:47 ERROR: [Worker 0] Worker 0 house 1 episode 113 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 08:03:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:03:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:03:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:03:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:03:49 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 08:03:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:03:49 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 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044101m	[env.py: 870]
+05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:03:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72835717 -0.02680698  0.04410097] yaw=145.6deg	[env.py: 1019]
+05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.786282    0.06654975  0.04410097] yaw=164.1deg	[env.py: 1019]
+05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90279776  0.82122878  0.04410097] yaw=-152.6deg	[env.py: 1019]
+05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:03:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=374.5ms, total=374.6ms	[env.py: 1075]
+05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.728, -0.027, 0.044)	[env.py: 1079]
+05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.6 deg	[env.py: 1082]
+05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
+05/10 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:03:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:03:49 INFO: [Worker 0] Worker 0 house 1 episode 114/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:03:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:03:49 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 08:03:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:03:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:03:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.746s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:03:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.640[m] 85.094[deg]	[grasp_sample.py: 539]
+05/10 08:03:56 ERROR: [Worker 0] Worker 0 house 1 episode 114 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 08:03:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:03:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:03:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:03:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:03:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:03:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:03:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:03:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:03:58 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 08:03:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:03:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032487m	[env.py: 870]
+05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:03:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.11910602  0.89326744  0.03248694] yaw=-154.3deg	[env.py: 1019]
+05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74769677  0.22650094  0.03248694] yaw=172.1deg	[env.py: 1019]
+05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97909886  0.65906605  0.03248694] yaw=-158.0deg	[env.py: 1019]
+05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:03:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.1ms, total=138.1ms	[env.py: 1075]
+05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.119, 0.893, 0.032)	[env.py: 1079]
+05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.3 deg	[env.py: 1082]
+05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.714m	[env.py: 1086]
+05/10 08:03:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:03:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:03:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:03:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:03:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:03:58 INFO: [Worker 0] Worker 0 house 1 episode 115/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:03:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:03:58 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 08:03:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:03:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:03:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.455s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:03:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.308[m] 85.034[deg]	[grasp_sample.py: 539]
+05/10 08:03:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:03:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:03:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:04:07 INFO: [Worker 0] Saved videos eagerly for episode 81 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:04:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 08:04:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:04:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:04:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:04:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.31s (batch: 4.48s, save: 8.82s)	[pipeline.py: 300]
+05/10 08:04:21 INFO: [Worker 0] [PROFILE] Episode 112 house 1 success=True episode_total=0.54s:
+  episode_total: mean=189.59s, total=189.59s, count=1, min=189587.9ms, max=189587.9ms
+  sensor_polling: mean=463.7ms, total=139.11s, count=300, min=392.3ms, max=843.1ms
+  save_trajectories: mean=8.82s, total=8.82s, count=1, min=8822.3ms, max=8822.3ms
+  physics_step: mean=22.6ms, total=6.79s, count=300, min=17.1ms, max=83.3ms
+  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4483.8ms, max=4483.8ms
+  task_sampling: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms
+  task_specific_sample: mean=534.9ms, total=534.9ms, count=1, min=534.9ms, max=534.9ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=392.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:04:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:04:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:04:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:04:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:04:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:04:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:04:23 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 08:04:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:04:23 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 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041587m	[env.py: 870]
+05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:04:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02197491  0.85040008  0.04158686] yaw=-156.8deg	[env.py: 1019]
+05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00709142  0.12615778  0.04158686] yaw=149.6deg	[env.py: 1019]
+05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.72237844  0.6271475   0.04158686] yaw=-178.1deg	[env.py: 1019]
+05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:04:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=380.8ms, total=380.9ms	[env.py: 1075]
+05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.022, 0.850, 0.042)	[env.py: 1079]
+05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.8 deg	[env.py: 1082]
+05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.774m	[env.py: 1086]
+05/10 08:04:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:04:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:04:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:04:23 INFO: [Worker 0] Worker 0 house 1 episode 113/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:04:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:04:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 08:04:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:04:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.144s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:04:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.111s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:04:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.342[m] 85.162[deg]	[grasp_sample.py: 539]
+05/10 08:04:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:04:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:04:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:04:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:04:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:04:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:04:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:04:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:04:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:04:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:05:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:05:10 INFO: [Worker 0] Worker 0 house 1 episode 109 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:05:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:05:32 INFO: [Worker 0] Saved videos eagerly for episode 78 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:05:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 08:05:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:05:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:05:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:05:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.21s (batch: 4.36s, save: 7.85s)	[pipeline.py: 300]
+05/10 08:05:45 INFO: [Worker 0] [PROFILE] Episode 109 house 1 success=True episode_total=0.39s:
+  episode_total: mean=190.98s, total=190.98s, count=1, min=190983.1ms, max=190983.1ms
+  sensor_polling: mean=481.0ms, total=144.29s, count=300, min=402.9ms, max=906.3ms
+  save_trajectories: mean=7.85s, total=7.85s, count=1, min=7852.4ms, max=7852.4ms
+  physics_step: mean=22.6ms, total=6.79s, count=300, min=16.3ms, max=52.9ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4362.0ms, max=4362.0ms
+  task_sampling: mean=391.0ms, total=391.0ms, count=1, min=391.0ms, max=391.0ms
+  task_specific_sample: mean=387.6ms, total=387.6ms, count=1, min=387.6ms, max=387.6ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=362.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:05:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:05:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:05:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:05:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:05:46 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 08:05:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:05:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040086m	[env.py: 870]
+05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:05:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75636316  0.37713318 -0.0400855 ] yaw=172.7deg	[env.py: 1019]
+05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99822012  1.06129379 -0.0400855 ] yaw=-149.8deg	[env.py: 1019]
+05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8188483   0.70102521 -0.0400855 ] yaw=-155.8deg	[env.py: 1019]
+05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:05:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.7ms, total=179.7ms	[env.py: 1075]
+05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.756, 0.377, -0.040)	[env.py: 1079]
+05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.7 deg	[env.py: 1082]
+05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
+05/10 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:05:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:05:47 INFO: [Worker 0] Worker 0 house 1 episode 110/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:05:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:05:47 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 08:05:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:05:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:05:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.491s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:05:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.553[m] 98.601[deg]	[grasp_sample.py: 539]
+05/10 08:05:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:05:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:05:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:05:48 INFO: [Worker 0] Worker 0 house 1 episode 108 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:06:13 INFO: [Worker 0] Saved videos eagerly for episode 81 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:06:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 08:06:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:06:24 INFO: [Worker 0] Worker 0 house 1 episode 115 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:06:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:06:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:06:26 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.71s (batch: 3.99s, save: 8.72s)	[pipeline.py: 300]
+05/10 08:06:27 INFO: [Worker 0] [PROFILE] Episode 108 house 1 success=True episode_total=0.82s:
+  episode_total: mean=98.43s, total=196.85s, count=2, min=1976.7ms, max=194876.0ms
+  sensor_polling: mean=479.0ms, total=143.70s, count=300, min=398.8ms, max=942.9ms
+  save_trajectories: mean=8.72s, total=8.72s, count=1, min=8717.8ms, max=8717.8ms
+  physics_step: mean=22.7ms, total=6.82s, count=300, min=16.8ms, max=132.9ms
+  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3993.3ms, max=3993.3ms
+  task_sampling: mean=407.9ms, total=815.9ms, count=2, min=364.0ms, max=451.9ms
+  task_specific_sample: mean=404.4ms, total=808.8ms, count=2, min=359.8ms, max=449.0ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=472.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  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 08:06:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:06:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:06:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:06:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:06:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:06:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:06:28 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 08:06:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:06:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038120m	[env.py: 870]
+05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:06:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96649553  0.34127306  0.03811978] yaw=164.4deg	[env.py: 1019]
+05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94454104  1.14825896  0.03811978] yaw=-129.2deg	[env.py: 1019]
+05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90293912  0.12110949  0.03811978] yaw=158.3deg	[env.py: 1019]
+05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:06:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=73.8ms, total=73.9ms	[env.py: 1075]
+05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.966, 0.341, 0.038)	[env.py: 1079]
+05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.4 deg	[env.py: 1082]
+05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.749m	[env.py: 1086]
+05/10 08:06:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:06:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:06:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:06:29 INFO: [Worker 0] Worker 0 house 1 episode 109/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:06:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:06:29 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 08:06:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:06:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:06:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.678s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:06:29 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.313[m] 89.444[deg]	[grasp_sample.py: 539]
+05/10 08:06:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:06:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:06:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:06:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:06:47 INFO: [Worker 0] Saved videos eagerly for episode 74 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:06:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 08:06:47 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/10 08:06:52 INFO: [Worker 0] Worker 0 house 1 episode 113 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:06:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:06:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:07:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:07:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:07:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:07:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.55s (batch: 4.12s, save: 10.43s)	[pipeline.py: 300]
+05/10 08:07:02 INFO: [Worker 0] [PROFILE] Episode 115 house 1 success=True episode_total=1.46s:
+  episode_total: mean=65.09s, total=195.26s, count=3, min=3203.1ms, max=184546.4ms
+  sensor_polling: mean=479.5ms, total=135.70s, count=283, min=404.2ms, max=865.6ms
+  save_trajectories: mean=10.43s, total=10.43s, count=1, min=10429.4ms, max=10429.4ms
+  physics_step: mean=21.8ms, total=6.17s, count=283, min=13.5ms, max=81.2ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4123.8ms, max=4123.8ms
+  task_sampling: mean=487.8ms, total=1.46s, count=3, min=353.0ms, max=601.6ms
+  task_specific_sample: mean=484.7ms, total=1.45s, count=3, min=350.6ms, max=598.2ms
+  scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.1ms, max=2.3ms
+  mj_forward_sync: mean=453.8us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:07:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:07:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:07:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:07:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:07:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:07:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:07:04 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 08:07:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:07:04 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 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028399m	[env.py: 870]
+05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:07:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62196844  0.55344281 -0.0283987 ] yaw=-169.8deg	[env.py: 1019]
+05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96773634  0.37155314 -0.0283987 ] yaw=176.8deg	[env.py: 1019]
+05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:07:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=202.1ms, total=202.2ms	[env.py: 1075]
+05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.622, 0.553, -0.028)	[env.py: 1079]
+05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.8 deg	[env.py: 1082]
+05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m	[env.py: 1086]
+05/10 08:07:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:07:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:07:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:07:05 INFO: [Worker 0] Worker 0 house 1 episode 116/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:07:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:07:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 08:07:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:07:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:07:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.521s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:07:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.658[m] 90.869[deg]	[grasp_sample.py: 539]
+05/10 08:07:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:07:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:07:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:07:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:07:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:07:16 INFO: [Worker 0] Saved videos eagerly for episode 82 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:07:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 08:07:16 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
+05/10 08:07:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:07:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:07:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.71s (batch: 4.73s, save: 8.98s)	[pipeline.py: 300]
+05/10 08:07:31 INFO: [Worker 0] [PROFILE] Episode 113 house 1 success=True episode_total=0.66s:
+  episode_total: mean=187.71s, total=187.71s, count=1, min=187705.7ms, max=187705.7ms
+  sensor_polling: mean=474.6ms, total=137.15s, count=289, min=406.2ms, max=694.0ms
+  save_trajectories: mean=8.98s, total=8.98s, count=1, min=8978.6ms, max=8978.6ms
+  physics_step: mean=22.2ms, total=6.41s, count=289, min=16.8ms, max=74.3ms
+  save_batch_prep: mean=4.73s, total=4.73s, count=1, min=4732.6ms, max=4732.6ms
+  task_sampling: mean=655.4ms, total=655.4ms, count=1, min=655.4ms, max=655.4ms
+  task_specific_sample: mean=651.5ms, total=651.5ms, count=1, min=651.5ms, max=651.5ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=462.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:07:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:07:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:07:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:07:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:07:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:07:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:07:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:07:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:07:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049670m	[env.py: 870]
+05/10 08:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:07:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.61715067  0.3445453   0.04966987] yaw=166.8deg	[env.py: 1019]
+05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15329611  1.1217256   0.04966987] yaw=-141.0deg	[env.py: 1019]
+05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8172384   0.34068199  0.04966987] yaw=167.6deg	[env.py: 1019]
+05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:07:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.2ms, total=178.3ms	[env.py: 1075]
+05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.617, 0.345, 0.050)	[env.py: 1079]
+05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.8 deg	[env.py: 1082]
+05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/10 08:07:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:07:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:07:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:07:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:07:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:07:33 INFO: [Worker 0] Worker 0 house 1 episode 114/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:07:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.165s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:07:33 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 08:07:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:07:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:07:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.282s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:07:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.616[m] 86.425[deg]	[grasp_sample.py: 539]
+05/10 08:07:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:07:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:07:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:07:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:07:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:07:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:07:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:07:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:07:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:07:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:07:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:07:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:07:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:07:57 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 08:07:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:07:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:07:58 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.498s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:07:58 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.157[deg]	[grasp_sample.py: 539]
+05/10 08:07:59 ERROR: [Worker 0] Worker 0 house 1 episode 109 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 08:08:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:08:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:08:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:08:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:08:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:08:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:08:01 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 08:08:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:08:01 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 08:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027000m	[env.py: 870]
+05/10 08:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:08:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92561249  1.19977176  0.02700034] yaw=-139.3deg	[env.py: 1019]
+05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.17611746  0.97866325  0.02700034] yaw=-129.6deg	[env.py: 1019]
+05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.1766583   1.13828554  0.02700034] yaw=-126.7deg	[env.py: 1019]
+05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:08:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=332.3ms, total=332.3ms	[env.py: 1075]
+05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 1.200, 0.027)	[env.py: 1079]
+05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.3 deg	[env.py: 1082]
+05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m	[env.py: 1086]
+05/10 08:08:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:08:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:08:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:08:02 INFO: [Worker 0] Worker 0 house 1 episode 110/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:08:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:08:02 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 08:08:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:08:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:08:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.819s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:08:05 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.656[m] 85.526[deg]	[grasp_sample.py: 539]
+05/10 08:08:06 ERROR: [Worker 0] Worker 0 house 1 episode 110 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 08:08:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:08:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:08:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:08:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:08:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:08:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:08:08 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 08:08:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:08:08 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 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002339m	[env.py: 870]
+05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:08:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97966094  0.14358516 -0.00233859] yaw=146.6deg	[env.py: 1019]
+05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01694197  0.68503676 -0.00233859] yaw=-158.6deg	[env.py: 1019]
+05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.05150096  0.92608314 -0.00233859] yaw=-142.0deg	[env.py: 1019]
+05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:08:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.9ms, total=115.9ms	[env.py: 1075]
+05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.980, 0.144, -0.002)	[env.py: 1079]
+05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.6 deg	[env.py: 1082]
+05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.798m	[env.py: 1086]
+05/10 08:08:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:08:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:08:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:08:08 INFO: [Worker 0] Worker 0 house 1 episode 111/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:08:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:08:08 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 08:08:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:08:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:08:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.467s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:08:09 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.338[m] 86.155[deg]	[grasp_sample.py: 539]
+05/10 08:08:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:08:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:08:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:08:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:08:21 INFO: [Worker 0] Worker 0 house 1 episode 110 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:08:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:08:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:08:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:08:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:08:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:08:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:08:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:08:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:08:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:08:41 INFO: [Worker 0] Saved videos eagerly for episode 79 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:08:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 08:08:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:08:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:08:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:08:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:08:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:08:44 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 08:08:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:08:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:08:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.678s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:08:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.057[m] 2.885[deg]	[grasp_sample.py: 539]
+05/10 08:08:45 ERROR: [Worker 0] Worker 0 house 1 episode 114 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 08:08:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:08:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:08:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:08:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:08:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:08:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:08:47 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 08:08:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:08:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020945m	[env.py: 870]
+05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:08:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10685944  0.91875293  0.0209447 ] yaw=-151.5deg	[env.py: 1019]
+05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83843859  0.77665177  0.0209447 ] yaw=-153.1deg	[env.py: 1019]
+05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02314024  1.13302406  0.0209447 ] yaw=-128.9deg	[env.py: 1019]
+05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:08:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.0ms, total=106.0ms	[env.py: 1075]
+05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.107, 0.919, 0.021)	[env.py: 1079]
+05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.5 deg	[env.py: 1082]
+05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.738m	[env.py: 1086]
+05/10 08:08:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:08:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:08:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:08:47 INFO: [Worker 0] Worker 0 house 1 episode 115/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:08:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:08:47 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 08:08:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:08:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:08:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.446s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:08:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.350[m] 88.349[deg]	[grasp_sample.py: 539]
+05/10 08:08:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:08:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:08:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:08:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:08:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:08:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:08:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.31s (batch: 3.81s, save: 7.50s)	[pipeline.py: 300]
+05/10 08:08:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:08:53 INFO: [Worker 0] [PROFILE] Episode 110 house 1 success=True episode_total=0.45s:
+  episode_total: mean=186.54s, total=186.54s, count=1, min=186543.0ms, max=186543.0ms
+  sensor_polling: mean=477.9ms, total=143.37s, count=300, min=406.9ms, max=859.7ms
+  save_trajectories: mean=7.50s, total=7.50s, count=1, min=7503.7ms, max=7503.7ms
+  physics_step: mean=23.7ms, total=7.11s, count=300, min=16.4ms, max=83.0ms
+  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3807.4ms, max=3807.4ms
+  task_sampling: mean=445.5ms, total=445.5ms, count=1, min=445.5ms, max=445.5ms
+  task_specific_sample: mean=442.0ms, total=442.0ms, count=1, min=442.0ms, max=442.0ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=381.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.8us, 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 08:08:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:08:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:08:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:08:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:08:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:08:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:08:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:08:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:08:54 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 08:08:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:08:54 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 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015608m	[env.py: 870]
+05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:08:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03607037  0.23393845 -0.01560765] yaw=164.3deg	[env.py: 1019]
+05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70402536  0.42603575 -0.01560765] yaw=166.1deg	[env.py: 1019]
+05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85756499  0.57784306 -0.01560765] yaw=-167.5deg	[env.py: 1019]
+05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:08:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.1ms, total=121.1ms	[env.py: 1075]
+05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.036, 0.234, -0.016)	[env.py: 1079]
+05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.3 deg	[env.py: 1082]
+05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.711m	[env.py: 1086]
+05/10 08:08:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:08:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:08:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:08:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:08:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:08:55 INFO: [Worker 0] Worker 0 house 1 episode 111/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:08:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:08:55 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 08:08:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:08:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:08:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.420s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:08:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.288[m] 86.299[deg]	[grasp_sample.py: 539]
+05/10 08:08:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:08:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:08:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:09:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:09:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:09:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:09:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:09:35 INFO: [Worker 0] Worker 0 house 1 episode 116 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:09:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:09:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:09:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:09:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:09:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:09:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:09:58 INFO: [Worker 0] Saved videos eagerly for episode 75 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:09:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 08:09:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:09:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:10:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:10:09 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 08:10:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:10:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.114s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:10:10 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.786s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:10:10 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.164[deg]	[grasp_sample.py: 539]
+05/10 08:10:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:10:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:10:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:10:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:10:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:10:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.44s (batch: 6.33s, save: 11.11s)	[pipeline.py: 300]
+05/10 08:10:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:10:16 INFO: [Worker 0] [PROFILE] Episode 116 house 1 success=True episode_total=0.51s:
+  episode_total: mean=192.40s, total=192.40s, count=1, min=192402.3ms, max=192402.3ms
+  sensor_polling: mean=468.5ms, total=140.55s, count=300, min=401.3ms, max=1018.9ms
+  save_trajectories: mean=11.11s, total=11.11s, count=1, min=11112.7ms, max=11112.7ms
+  save_batch_prep: mean=6.33s, total=6.33s, count=1, min=6325.2ms, max=6325.2ms
+  physics_step: mean=20.6ms, total=6.19s, count=300, min=13.4ms, max=50.2ms
+  task_sampling: mean=507.0ms, total=507.0ms, count=1, min=507.0ms, max=507.0ms
+  task_specific_sample: mean=503.8ms, total=503.8ms, count=1, min=503.8ms, max=503.8ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=367.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:10:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:10:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:10:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:10:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:10:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:10:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:10:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:10:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:10:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:10:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:10:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043519m	[env.py: 870]
+05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:10:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96588767  1.2349684  -0.04351858] yaw=-145.8deg	[env.py: 1019]
+05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.66847816  0.48843002 -0.04351858] yaw=-178.6deg	[env.py: 1019]
+05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:10:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=336.7ms, total=336.7ms	[env.py: 1075]
+05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.966, 1.235, -0.044)	[env.py: 1079]
+05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.8 deg	[env.py: 1082]
+05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
+05/10 08:10:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:10:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:10:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:10:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:10:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:10:19 INFO: [Worker 0] Worker 0 house 1 episode 117/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:10:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:10:19 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 08:10:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:10:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:10:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.626s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:10:21 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.671[m] 92.514[deg]	[grasp_sample.py: 539]
+05/10 08:10:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:10:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:10:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:10:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:10:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:10:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:10:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:10:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 08:10:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:10:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:10:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.427s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:10:55 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.859[deg]	[grasp_sample.py: 539]
+05/10 08:10:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:10:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:10:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:10:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:10:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:10:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:10:58 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 08:10:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:10:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:10:59 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.426s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:10:59 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.048[m] 0.787[deg]	[grasp_sample.py: 539]
+05/10 08:10:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:10:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:10:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:11:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:11:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:11:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:11:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:11:18 INFO: [Worker 0] Worker 0 house 1 episode 111 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:11:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:11:20 INFO: [Worker 0] Worker 0 house 1 episode 115 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:11:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:11:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:11:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:11:38 INFO: [Worker 0] Saved videos eagerly for episode 82 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:11:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 08:11:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:11:40 INFO: [Worker 0] Saved videos eagerly for episode 83 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:11:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 08:11:40 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
+05/10 08:11:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:11:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:11:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:11:49 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.08s (batch: 3.43s, save: 7.64s)	[pipeline.py: 300]
+05/10 08:11:50 INFO: [Worker 0] [PROFILE] Episode 111 house 1 success=True episode_total=1.38s:
+  episode_total: mean=106.03s, total=318.09s, count=3, min=4848.7ms, max=222100.5ms
+  sensor_polling: mean=480.5ms, total=215.74s, count=449, min=409.3ms, max=884.2ms
+  physics_step: mean=22.1ms, total=9.93s, count=449, min=13.4ms, max=67.0ms
+  save_trajectories: mean=7.64s, total=7.64s, count=1, min=7642.8ms, max=7642.8ms
+  save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3434.7ms, max=3434.7ms
+  task_sampling: mean=459.9ms, total=1.38s, count=3, min=343.2ms, max=683.2ms
+  task_specific_sample: mean=456.6ms, total=1.37s, count=3, min=340.1ms, max=680.0ms
+  scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.1ms, max=2.3ms
+  mj_forward_sync: mean=432.2us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:11:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:11:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:11:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:11:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:11:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:11:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:11:51 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 08:11:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:11:51 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 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015783m	[env.py: 870]
+05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:11:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7251548   0.40710438  0.01578317] yaw=174.3deg	[env.py: 1019]
+05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84546206  0.52889328  0.01578317] yaw=-177.3deg	[env.py: 1019]
+05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03853611  0.71914767  0.01578317] yaw=-168.5deg	[env.py: 1019]
+05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:11:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.2ms, total=121.2ms	[env.py: 1075]
+05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.725, 0.407, 0.016)	[env.py: 1079]
+05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.3 deg	[env.py: 1082]
+05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m	[env.py: 1086]
+05/10 08:11:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:11:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:11:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:11:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:11:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.84s (batch: 3.98s, save: 7.86s)	[pipeline.py: 300]
+05/10 08:11:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:11:52 INFO: [Worker 0] Worker 0 house 1 episode 112/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:11:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:11:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 08:11:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:11:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:11:52 INFO: [Worker 0] [PROFILE] Episode 115 house 1 success=True episode_total=0.80s:
+  episode_total: mean=129.19s, total=258.38s, count=2, min=72963.1ms, max=185413.6ms
+  sensor_polling: mean=479.6ms, total=199.04s, count=415, min=390.3ms, max=899.6ms
+  physics_step: mean=22.0ms, total=9.12s, count=415, min=13.8ms, max=66.6ms
+  save_trajectories: mean=7.86s, total=7.86s, count=1, min=7858.2ms, max=7858.2ms
+  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3981.6ms, max=3981.6ms
+  task_sampling: mean=401.3ms, total=802.5ms, count=2, min=341.3ms, max=461.3ms
+  task_specific_sample: mean=397.6ms, total=795.2ms, count=2, min=338.3ms, max=456.9ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=459.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:11:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.575s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:11:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.584[m] 99.246[deg]	[grasp_sample.py: 539]
+05/10 08:11:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:11:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:11:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:11:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:11:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:11:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:11:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:11:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:11:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:11:54 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 08:11:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:11:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008152m	[env.py: 870]
+05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:11:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8225286   0.35851003 -0.00815187] yaw=171.4deg	[env.py: 1019]
+05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1729353   1.01885179 -0.00815187] yaw=-125.8deg	[env.py: 1019]
+05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.75296467  0.71292002 -0.00815187] yaw=-163.6deg	[env.py: 1019]
+05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:11:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.5ms, total=202.6ms	[env.py: 1075]
+05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.823, 0.359, -0.008)	[env.py: 1079]
+05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.4 deg	[env.py: 1082]
+05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
+05/10 08:11:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:11:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:11:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:11:54 INFO: [Worker 0] Worker 0 house 1 episode 116/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:11:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:11:55 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 08:11:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:11:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:11:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.439s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:11:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.464[m] 94.461[deg]	[grasp_sample.py: 539]
+05/10 08:11:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:11:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:11:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:12:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:12:10 INFO: [Worker 0] Worker 0 house 1 episode 111 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:12:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:12:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:12:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:12:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:12:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:12:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:12:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:12:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:12:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:12:27 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 08:12:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:12:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:12:29 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.575s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:12:29 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.110[m] 5.922[deg]	[grasp_sample.py: 539]
+05/10 08:12:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:12:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:12:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:12:38 INFO: [Worker 0] Saved videos eagerly for episode 80 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:12:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 08:12:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:12:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:12:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:12:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:12:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:12:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:12:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.40s (batch: 3.92s, save: 10.49s)	[pipeline.py: 300]
+05/10 08:12:53 INFO: [Worker 0] [PROFILE] Episode 111 house 1 success=True episode_total=0.39s:
+  episode_total: mean=238.50s, total=238.50s, count=1, min=238498.6ms, max=238498.6ms
+  sensor_polling: mean=484.9ms, total=145.46s, count=300, min=399.3ms, max=803.8ms
+  save_trajectories: mean=10.49s, total=10.49s, count=1, min=10488.2ms, max=10488.2ms
+  physics_step: mean=23.0ms, total=6.89s, count=300, min=13.3ms, max=46.6ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3916.6ms, max=3916.6ms
+  task_sampling: mean=388.9ms, total=388.9ms, count=1, min=388.9ms, max=388.9ms
+  task_specific_sample: mean=385.5ms, total=385.5ms, count=1, min=385.5ms, max=385.5ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=362.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:12:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:12:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:12:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:12:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:12:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:12:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:12:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:12:54 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 08:12:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:12:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014987m	[env.py: 870]
+05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:12:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00358767  0.76531832  0.01498706] yaw=-157.6deg	[env.py: 1019]
+05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:12:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78208043  0.69423554  0.01498706] yaw=-158.9deg	[env.py: 1019]
+05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77467063  0.05565376  0.01498706] yaw=151.0deg	[env.py: 1019]
+05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:12:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.2ms, total=167.2ms	[env.py: 1075]
+05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.004, 0.765, 0.015)	[env.py: 1079]
+05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.6 deg	[env.py: 1082]
+05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.754m	[env.py: 1086]
+05/10 08:12:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:12:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:12:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:12:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:12:55 INFO: [Worker 0] Worker 0 house 1 episode 112/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:12:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:12:55 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 08:12:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:12:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:12:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:12:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.314[m] 87.598[deg]	[grasp_sample.py: 539]
+05/10 08:12:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:12:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:12:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:12:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:12:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:12:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:13:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:13:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:13:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:13:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:13:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:13:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:13:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:13:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:13:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:13:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:13:08 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 08:13:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:13:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:13:09 INFO: [Worker 0] Feasibility-checked 82 grasps in 1.535s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 08:13:09 ERROR: [Worker 0] Worker 0 house 1 episode 117 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 08:13:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:13:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:13:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:13:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:13:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:13:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:13:11 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 08:13:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:13:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039863m	[env.py: 870]
+05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:13:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15689384  0.9439892  -0.03986273] yaw=-148.2deg	[env.py: 1019]
+05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81851562  0.82204951 -0.03986273] yaw=-161.9deg	[env.py: 1019]
+05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:13:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.8ms, total=199.9ms	[env.py: 1075]
+05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.157, 0.944, -0.040)	[env.py: 1079]
+05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg	[env.py: 1082]
+05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.715m	[env.py: 1086]
+05/10 08:13:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:13:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:13:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:13:12 INFO: [Worker 0] Worker 0 house 1 episode 118/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:13:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:13:12 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 08:13:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:13:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.106s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:13:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.984s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:13:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.279[m] 78.598[deg]	[grasp_sample.py: 539]
+05/10 08:13:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:13:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:13:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:13:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:13:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:13:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:13:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:13:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:13:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:14:25 INFO: [Worker 0] Worker 0 house 1 episode 112 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:14:30 INFO: [Worker 0] Worker 0 house 1 episode 116 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:14:44 INFO: [Worker 0] Saved videos eagerly for episode 83 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:14:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 08:14:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:14:52 INFO: [Worker 0] Saved videos eagerly for episode 84 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:14:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 08:14:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:14:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:14:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:14:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.56s (batch: 4.29s, save: 8.27s)	[pipeline.py: 300]
+05/10 08:14:58 INFO: [Worker 0] [PROFILE] Episode 112 house 1 success=True episode_total=0.41s:
+  episode_total: mean=186.25s, total=186.25s, count=1, min=186252.2ms, max=186252.2ms
+  sensor_polling: mean=475.6ms, total=142.67s, count=300, min=398.7ms, max=892.2ms
+  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8274.6ms, max=8274.6ms
+  physics_step: mean=21.6ms, total=6.48s, count=300, min=16.7ms, max=89.2ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4286.7ms, max=4286.7ms
+  task_sampling: mean=407.5ms, total=407.5ms, count=1, min=407.5ms, max=407.5ms
+  task_specific_sample: mean=404.2ms, total=404.2ms, count=1, min=404.2ms, max=404.2ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=369.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:14:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:14:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:14:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:14:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:14:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:14:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:14:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:14:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:14:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028185m	[env.py: 870]
+05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:14:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90773275  0.39211094  0.02818452] yaw=162.3deg	[env.py: 1019]
+05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79794762  0.87182868  0.02818452] yaw=-148.2deg	[env.py: 1019]
+05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:14:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=241.4ms, total=241.4ms	[env.py: 1075]
+05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.908, 0.392, 0.028)	[env.py: 1079]
+05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.3 deg	[env.py: 1082]
+05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m	[env.py: 1086]
+05/10 08:14:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:14:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:15:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:15:00 INFO: [Worker 0] Worker 0 house 1 episode 113/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:15:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:15:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 08:15:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:15:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:15:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.400s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:15:00 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.396[m] 95.559[deg]	[grasp_sample.py: 539]
+05/10 08:15:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:15:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:15:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:15:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:15:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:15:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.25s (batch: 3.90s, save: 8.35s)	[pipeline.py: 300]
+05/10 08:15:05 INFO: [Worker 0] [PROFILE] Episode 116 house 1 success=True episode_total=0.46s:
+  episode_total: mean=191.17s, total=191.17s, count=1, min=191170.9ms, max=191170.9ms
+  sensor_polling: mean=480.6ms, total=144.18s, count=300, min=396.8ms, max=902.0ms
+  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8352.8ms, max=8352.8ms
+  physics_step: mean=23.7ms, total=7.11s, count=300, min=13.7ms, max=84.3ms
+  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3899.0ms, max=3899.0ms
+  task_sampling: mean=455.9ms, total=455.9ms, count=1, min=455.9ms, max=455.9ms
+  task_specific_sample: mean=452.2ms, total=452.2ms, count=1, min=452.2ms, max=452.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=385.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:15:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:15:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:15:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:15:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:15:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:15:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:15:07 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 08:15:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:15:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038403m	[env.py: 870]
+05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:15:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74677357  0.63334431 -0.03840263] yaw=-176.3deg	[env.py: 1019]
+05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93554143  1.07523751 -0.03840263] yaw=-134.5deg	[env.py: 1019]
+05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99799202  0.82771896 -0.03840263] yaw=-160.2deg	[env.py: 1019]
+05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:15:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.8ms, total=135.9ms	[env.py: 1075]
+05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.633, -0.038)	[env.py: 1079]
+05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.3 deg	[env.py: 1082]
+05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m	[env.py: 1086]
+05/10 08:15:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:15:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:15:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:15:07 INFO: [Worker 0] Worker 0 house 1 episode 117/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:15:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:15:07 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 08:15:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:15:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:15:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.486s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:15:08 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.488[m] 78.608[deg]	[grasp_sample.py: 539]
+05/10 08:15:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:15:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:15:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:15:15 INFO: [Worker 0] Worker 0 house 1 episode 112 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:15:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:15:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:15:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:15:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:15:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:15:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:15:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:15:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:15:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:15:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:15:31 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 08:15:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:15:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:15:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.468s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:15:33 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.359[deg]	[grasp_sample.py: 539]
+05/10 08:15:34 ERROR: [Worker 0] Worker 0 house 1 episode 118 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 08:15:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:15:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:15:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:15:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:15:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:15:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:15:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:15:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:15:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017362m	[env.py: 870]
+05/10 08:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:15:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86397728  0.75801088 -0.0173624 ] yaw=-157.1deg	[env.py: 1019]
+05/10 08:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67273947  0.72524271 -0.0173624 ] yaw=-160.4deg	[env.py: 1019]
+05/10 08:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97932385  0.47209318 -0.0173624 ] yaw=185.7deg	[env.py: 1019]
+05/10 08:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:15:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.0ms, total=186.0ms	[env.py: 1075]
+05/10 08:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.758, -0.017)	[env.py: 1079]
+05/10 08:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.1 deg	[env.py: 1082]
+05/10 08:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/10 08:15:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:15:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:15:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:15:36 INFO: [Worker 0] Worker 0 house 1 episode 119/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:15:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:15:36 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 08:15:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:15:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:15:36 INFO: [Worker 0] Saved videos eagerly for episode 81 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:15:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 08:15:36 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
+05/10 08:15:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.536s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:15:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.496[m] 97.222[deg]	[grasp_sample.py: 539]
+05/10 08:15:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:15:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:15:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:15:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:15:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:15:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:15:48 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.82s (batch: 3.80s, save: 8.03s)	[pipeline.py: 300]
+05/10 08:15:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:15:49 INFO: [Worker 0] [PROFILE] Episode 112 house 1 success=True episode_total=0.42s:
+  episode_total: mean=174.33s, total=174.33s, count=1, min=174329.3ms, max=174329.3ms
+  sensor_polling: mean=460.5ms, total=130.80s, count=284, min=387.0ms, max=934.4ms
+  save_trajectories: mean=8.03s, total=8.03s, count=1, min=8026.3ms, max=8026.3ms
+  physics_step: mean=20.5ms, total=5.83s, count=284, min=13.9ms, max=39.1ms
+  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3795.9ms, max=3795.9ms
+  task_sampling: mean=418.4ms, total=418.4ms, count=1, min=418.4ms, max=418.4ms
+  task_specific_sample: mean=415.3ms, total=415.3ms, count=1, min=415.3ms, max=415.3ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=364.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.5us, 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 08:15:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:15:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:15:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:15:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:15:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:15:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:15:50 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 08:15:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:15:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005800m	[env.py: 870]
+05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:15:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 126.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93506929  0.48474254 -0.00579993] yaw=-180.9deg	[env.py: 1019]
+05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84541863  0.438248   -0.00579993] yaw=182.6deg	[env.py: 1019]
+05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08213738  1.17321185 -0.00579993] yaw=-142.3deg	[env.py: 1019]
+05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:15:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.4ms, total=117.4ms	[env.py: 1075]
+05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 0.485, -0.006)	[env.py: 1079]
+05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.9 deg	[env.py: 1082]
+05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.767m	[env.py: 1086]
+05/10 08:15:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:15:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:15:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:15:51 INFO: [Worker 0] Worker 0 house 1 episode 113/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:15:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:15:51 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 08:15:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:15:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:15:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.911s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:15:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.315[m] 87.336[deg]	[grasp_sample.py: 539]
+05/10 08:15:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:15:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:15:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:15:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:15:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:16:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:16:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:16:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:16:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:16:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:16:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:16:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:16:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:16:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:16:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:16:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:16:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:16:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:16:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:16:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:16:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:16:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:16:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:16:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 08:16:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:16:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:16:55 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.365s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:16:55 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.190[deg]	[grasp_sample.py: 539]
+05/10 08:16:55 ERROR: [Worker 0] Worker 0 house 1 episode 113 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 08:16:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:16:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:16:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:16:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:16:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:16:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:16:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:16:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:16:57 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 08:16:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:16:57 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 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005118m	[env.py: 870]
+05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:16:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0390577   0.76167897  0.00511826] yaw=-153.5deg	[env.py: 1019]
+05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92764155  0.24201894  0.00511826] yaw=166.6deg	[env.py: 1019]
+05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:16:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=164.8ms, total=164.8ms	[env.py: 1075]
+05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.039, 0.762, 0.005)	[env.py: 1079]
+05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.5 deg	[env.py: 1082]
+05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.720m	[env.py: 1086]
+05/10 08:16:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:16:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:16:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:16:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:16:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:16:58 INFO: [Worker 0] Worker 0 house 1 episode 114/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:16:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:16:58 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 08:16:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:16:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:16:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.488s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:16:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.330[m] 92.388[deg]	[grasp_sample.py: 539]
+05/10 08:16:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:16:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:16:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:17:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:17:35 INFO: [Worker 0] Worker 0 house 1 episode 117 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:17:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:17:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:17:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:17:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:17:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:17:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:17:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:17:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:17:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:17:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:17:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:17:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:17:48 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 08:17:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:17:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:17:48 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.410s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:17:48 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.523[deg]	[grasp_sample.py: 539]
+05/10 08:17:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:17:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:17:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:17:57 INFO: [Worker 0] Saved videos eagerly for episode 85 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:17:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 08:17:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:18:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:18:02 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 08:18:02 INFO: [Worker 0] [PROFILE] Episode 117 house 1 success=True episode_total=0.40s:
+  episode_total: mean=175.61s, total=175.61s, count=1, min=175615.0ms, max=175615.0ms
+  sensor_polling: mean=456.6ms, total=136.97s, count=300, min=395.6ms, max=815.5ms
+  physics_step: mean=22.5ms, total=6.75s, count=300, min=14.2ms, max=53.0ms
+  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4879.6ms, max=4879.6ms
+  task_sampling: mean=403.3ms, total=403.3ms, count=1, min=403.3ms, max=403.3ms
+  task_specific_sample: mean=400.2ms, total=400.2ms, count=1, min=400.2ms, max=400.2ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=383.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:18:04 INFO: [Worker 0] Worker 0 house 1 episode 119 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:18:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:18:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:18:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:18:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:18:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:18:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:18:04 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 08:18:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:18:04 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 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026659m	[env.py: 870]
+05/10 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:18:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01924666  0.75587855  0.0266595 ] yaw=-164.4deg	[env.py: 1019]
+05/10 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87686153  0.62453338  0.0266595 ] yaw=-173.2deg	[env.py: 1019]
+05/10 08:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82385955  0.78369229  0.0266595 ] yaw=-151.5deg	[env.py: 1019]
+05/10 08:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:18:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.7ms, total=178.7ms	[env.py: 1075]
+05/10 08:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.019, 0.756, 0.027)	[env.py: 1079]
+05/10 08:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.4 deg	[env.py: 1082]
+05/10 08:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.736m	[env.py: 1086]
+05/10 08:18:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:18:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:18:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:18:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:18:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:18:05 INFO: [Worker 0] Worker 0 house 1 episode 118/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:18:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:18:05 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 08:18:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:18:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:18:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.479s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:18:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.317[m] 94.828[deg]	[grasp_sample.py: 539]
+05/10 08:18:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:18:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:18:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:18:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:18:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:18:26 INFO: [Worker 0] Saved videos eagerly for episode 76 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:18:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 08:18:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:18:30 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 08:18:30 INFO: [Worker 0] [PROFILE] Episode 119 house 1 success=True episode_total=1.52s:
+  episode_total: mean=162.92s, total=488.75s, count=3, min=142531.5ms, max=174888.4ms
+  sensor_polling: mean=461.6ms, total=390.07s, count=845, min=385.5ms, max=920.2ms
+  physics_step: mean=21.2ms, total=17.92s, count=845, min=13.5ms, max=57.1ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4280.6ms, max=4280.6ms
+  task_sampling: mean=505.4ms, total=1.52s, count=3, min=449.6ms, max=606.6ms
+  task_specific_sample: mean=501.4ms, total=1.50s, count=3, min=446.3ms, max=603.4ms
+  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.5ms, max=2.0ms
+  mj_forward_sync: mean=533.2us, total=1.6ms, count=3, min=0.4ms, max=0.7ms
+  policy_setup: mean=17.5us, 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 08:18:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:18:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:18:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:18:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:18:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:18:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:18:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:18:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:18:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041094m	[env.py: 870]
+05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:18:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01216011  1.118026    0.04109379] yaw=-145.2deg	[env.py: 1019]
+05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06971993  1.01577038  0.04109379] yaw=-149.7deg	[env.py: 1019]
+05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80924712  0.50172634  0.04109379] yaw=-182.0deg	[env.py: 1019]
+05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:18:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.1ms, total=80.2ms	[env.py: 1075]
+05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.012, 1.118, 0.041)	[env.py: 1079]
+05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.2 deg	[env.py: 1082]
+05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
+05/10 08:18:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:18:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:18:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:18:32 INFO: [Worker 0] Worker 0 house 1 episode 120/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:18:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:18:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 08:18:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:18:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:18:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.552s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:18:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.527[m] 86.148[deg]	[grasp_sample.py: 539]
+05/10 08:18:35 ERROR: [Worker 0] Worker 0 house 1 episode 120 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 08:18:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:18:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:18:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:18:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:18:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:18:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:18:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:18:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:18:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:18:37 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 08:18:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:18:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017093m	[env.py: 870]
+05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:18:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85303419  0.24575981  0.01709283] yaw=161.3deg	[env.py: 1019]
+05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69958571  0.49280196  0.01709283] yaw=-169.9deg	[env.py: 1019]
+05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8105329   0.38984811  0.01709283] yaw=172.7deg	[env.py: 1019]
+05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:18:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.2ms, total=173.3ms	[env.py: 1075]
+05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.246, 0.017)	[env.py: 1079]
+05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.3 deg	[env.py: 1082]
+05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/10 08:18:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:18:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:18:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:18:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:18:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:18:37 INFO: [Worker 0] Worker 0 house 1 episode 121/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:18:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:18:37 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 08:18:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:18:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:18:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.517s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:18:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.450[m] 96.008[deg]	[grasp_sample.py: 539]
+05/10 08:18:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:18:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:18:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:18:46 INFO: [Worker 0] Worker 0 house 1 episode 113 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:18:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:18:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:19:09 INFO: [Worker 0] Saved videos eagerly for episode 82 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:19:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 08:19:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:19:14 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 08:19:14 INFO: [Worker 0] [PROFILE] Episode 113 house 1 success=True episode_total=0.42s:
+  episode_total: mean=204.01s, total=204.01s, count=1, min=204009.9ms, max=204009.9ms
+  sensor_polling: mean=475.3ms, total=142.58s, count=300, min=406.4ms, max=750.0ms
+  physics_step: mean=21.6ms, total=6.49s, count=300, min=15.4ms, max=72.0ms
+  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4818.6ms, max=4818.6ms
+  task_sampling: mean=422.7ms, total=422.7ms, count=1, min=422.7ms, max=422.7ms
+  task_specific_sample: mean=419.3ms, total=419.3ms, count=1, min=419.3ms, max=419.3ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=375.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:19:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:19:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:19:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:19:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:19:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:19:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:19:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:19:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:19:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048565m	[env.py: 870]
+05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:19:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79195449  0.8053161  -0.04856538] yaw=-156.5deg	[env.py: 1019]
+05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71201237  0.6947503  -0.04856538] yaw=-162.6deg	[env.py: 1019]
+05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92463689  1.0306621  -0.04856538] yaw=-146.9deg	[env.py: 1019]
+05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:19:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.2ms, total=142.2ms	[env.py: 1075]
+05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.792, 0.805, -0.049)	[env.py: 1079]
+05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg	[env.py: 1082]
+05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m	[env.py: 1086]
+05/10 08:19:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:19:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:19:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:19:17 INFO: [Worker 0] Worker 0 house 1 episode 114/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:19:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:19:17 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 08:19:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:19:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:19:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.641s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:19:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.518[m] 87.544[deg]	[grasp_sample.py: 539]
+05/10 08:19:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:19:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:19:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:19:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:19:30 INFO: [Worker 0] Worker 0 house 1 episode 114 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:19:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:19:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:19:51 INFO: [Worker 0] Saved videos eagerly for episode 84 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:19:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 08:19:51 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
+05/10 08:19:56 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 08:19:56 INFO: [Worker 0] [PROFILE] Episode 114 house 1 success=True episode_total=0.97s:
+  episode_total: mean=147.51s, total=295.01s, count=2, min=116432.4ms, max=178577.9ms
+  sensor_polling: mean=479.7ms, total=236.48s, count=493, min=405.1ms, max=838.4ms
+  physics_step: mean=22.7ms, total=11.20s, count=493, min=16.4ms, max=102.0ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4396.7ms, max=4396.7ms
+  task_sampling: mean=484.5ms, total=969.0ms, count=2, min=472.1ms, max=496.9ms
+  task_specific_sample: mean=481.4ms, total=962.8ms, count=2, min=469.3ms, max=493.5ms
+  scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.2ms, max=2.0ms
+  mj_forward_sync: mean=412.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:19:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:19:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:19:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:19:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:19:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:19:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:19:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:19:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:19:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:19:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:19:57 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 08:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001882m	[env.py: 870]
+05/10 08:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:19:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:19:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.2ms, total=195.2ms	[env.py: 1105]
+05/10 08:19:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/10 08:19:58 ERROR: [Worker 0] Worker 0 house 1 episode 115 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/10 08:19:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:19:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:19:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:19:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:19:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:19:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:19:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:19:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:19:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.016920m	[env.py: 870]
+05/10 08:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:19:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.839755    0.29926419 -0.01692045] yaw=161.6deg	[env.py: 1019]
+05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97667157  0.67734007 -0.01692045] yaw=-173.6deg	[env.py: 1019]
+05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.12399918  0.91511723 -0.01692045] yaw=-154.4deg	[env.py: 1019]
+05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:20:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.2ms, total=222.2ms	[env.py: 1075]
+05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.299, -0.017)	[env.py: 1079]
+05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.6 deg	[env.py: 1082]
+05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/10 08:20:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:20:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:20:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:20:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:20:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:20:00 INFO: [Worker 0] Worker 0 house 1 episode 116/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:20:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:20:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 08:20:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:20:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:20:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.592s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:20:01 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.457[m] 95.518[deg]	[grasp_sample.py: 539]
+05/10 08:20:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:20:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:20:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:20:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:20:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:20:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:20:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:20:44 INFO: [Worker 0] Worker 0 house 1 episode 118 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:20:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:20:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:20:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:20:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:20:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:20:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:20:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:21:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:21:08 INFO: [Worker 0] Saved videos eagerly for episode 86 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:21:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 08:21:08 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
+05/10 08:21:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:21:13 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 08:21:13 INFO: [Worker 0] [PROFILE] Episode 118 house 1 success=True episode_total=0.49s:
+  episode_total: mean=188.61s, total=188.61s, count=1, min=188606.3ms, max=188606.3ms
+  sensor_polling: mean=520.8ms, total=148.42s, count=285, min=447.9ms, max=903.0ms
+  physics_step: mean=24.5ms, total=6.97s, count=285, min=20.3ms, max=63.3ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4517.1ms, max=4517.1ms
+  task_sampling: mean=486.4ms, total=486.4ms, count=1, min=486.4ms, max=486.4ms
+  task_specific_sample: mean=482.1ms, total=482.1ms, count=1, min=482.1ms, max=482.1ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=548.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.2us, 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 08:21:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:21:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:21:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:21:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:21:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:21:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:21:15 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 08:21:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:21:15 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 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036708m	[env.py: 870]
+05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:21:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99413717  0.41222175  0.03670827] yaw=185.6deg	[env.py: 1019]
+05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96003379  1.03558381  0.03670827] yaw=-137.3deg	[env.py: 1019]
+05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:21:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.1ms, total=203.1ms	[env.py: 1075]
+05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.994, 0.412, 0.037)	[env.py: 1079]
+05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.6 deg	[env.py: 1082]
+05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.712m	[env.py: 1086]
+05/10 08:21:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:21:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:21:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:21:15 INFO: [Worker 0] Worker 0 house 1 episode 119/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:21:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:21:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 08:21:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:21:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:21:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.752s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:21:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.300[m] 89.550[deg]	[grasp_sample.py: 539]
+05/10 08:21:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:21:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:21:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:21:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:21:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:21:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:21:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:21:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:21:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:21:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:21:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:21:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:21:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:21:33 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 08:21:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:21:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:21:33 INFO: [Worker 0] Feasibility-checked 70 grasps in 0.472s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:21:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.052[m] 13.375[deg]	[grasp_sample.py: 539]
+05/10 08:21:35 ERROR: [Worker 0] Worker 0 house 1 episode 121 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 08:21:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:21:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:21:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:21:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:21:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:21:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:21:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:21:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:21:37 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 08:21:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:21:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048906m	[env.py: 870]
+05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:21:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.17751934  1.13857667 -0.04890631] yaw=-128.0deg	[env.py: 1019]
+05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95938469  0.33892668 -0.04890631] yaw=176.0deg	[env.py: 1019]
+05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:21:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=497.6ms, total=497.6ms	[env.py: 1075]
+05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.178, 1.139, -0.049)	[env.py: 1079]
+05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.0 deg	[env.py: 1082]
+05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
+05/10 08:21:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:21:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:21:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:21:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:21:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:21:37 INFO: [Worker 0] Worker 0 house 1 episode 122/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:21:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:21:38 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 08:21:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:21:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:21:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:21:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.417[m] 91.819[deg]	[grasp_sample.py: 539]
+05/10 08:21:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:21:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:21:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:21:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:22:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:22:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:22:12 INFO: [Worker 0] Worker 0 house 1 episode 114 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:22:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:22:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:36 INFO: [Worker 0] Saved videos eagerly for episode 83 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:22:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 08:22:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:22:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:22:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:41 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 08:22:41 INFO: [Worker 0] [PROFILE] Episode 114 house 1 success=True episode_total=0.46s:
+  episode_total: mean=204.47s, total=204.47s, count=1, min=204473.0ms, max=204473.0ms
+  sensor_polling: mean=540.3ms, total=162.08s, count=300, min=472.7ms, max=926.6ms
+  physics_step: mean=26.4ms, total=7.93s, count=300, min=16.0ms, max=111.1ms
+  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4512.6ms, max=4512.6ms
+  task_sampling: mean=456.2ms, total=456.2ms, count=1, min=456.2ms, max=456.2ms
+  task_specific_sample: mean=452.1ms, total=452.1ms, count=1, min=452.1ms, max=452.1ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=459.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.0us, 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 08:22:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:22:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:22:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:22:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:22:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:22:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:22:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:22:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:22:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:22:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013132m	[env.py: 870]
+05/10 08:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:22:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06367373  1.06590049 -0.01313198] yaw=-142.7deg	[env.py: 1019]
+05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06311191  0.95828852 -0.01313198] yaw=-142.0deg	[env.py: 1019]
+05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92104592  0.87100083 -0.01313198] yaw=-147.0deg	[env.py: 1019]
+05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:22:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=282.1ms, total=282.1ms	[env.py: 1075]
+05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.064, 1.066, -0.013)	[env.py: 1079]
+05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.7 deg	[env.py: 1082]
+05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/10 08:22:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:22:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:22:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:22:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:22:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:22:43 INFO: [Worker 0] Worker 0 house 1 episode 115/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:22:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:22:43 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 08:22:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:22:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:22:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.581s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:22:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.432[m] 85.882[deg]	[grasp_sample.py: 539]
+05/10 08:22:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:22:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:22:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:22:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:22:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:22:45 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 08:22:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:22:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:22:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:46 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.593s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:22:46 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.487[deg]	[grasp_sample.py: 539]
+05/10 08:22:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:22:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:22:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:22:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:22:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:22:49 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 08:22:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:22:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:22:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:49 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.423s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:22:49 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.100[deg]	[grasp_sample.py: 539]
+05/10 08:22:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:22:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:22:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:22:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:22:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:22:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:23:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:23:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 08:23:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:23:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:23:00 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.414s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:23:00 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.100[m] 0.452[deg]	[grasp_sample.py: 539]
+05/10 08:23:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:23:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:23:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:23:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:23:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:07 INFO: [Worker 0] Worker 0 house 1 episode 116 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:23:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:23:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:23:13 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 08:23:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:23:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:23:14 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.394s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:23:14 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.100[m] 0.452[deg]	[grasp_sample.py: 539]
+05/10 08:23:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:23:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:23:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:23:27 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/10 08:23:28 INFO: [Worker 0] Worker 0 house 1 episode 119 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 08:23:28 INFO: [Worker 0] [PROFILE] Episode 119 house 1 success=False episode_total=0.58s:
+  episode_total: mean=132.76s, total=132.76s, count=1, min=132764.3ms, max=132764.3ms
+  sensor_polling: mean=551.0ms, total=88.16s, count=160, min=484.4ms, max=913.9ms
+  physics_step: mean=24.6ms, total=3.93s, count=160, min=14.3ms, max=69.5ms
+  task_sampling: mean=581.4ms, total=581.4ms, count=1, min=581.4ms, max=581.4ms
+  task_specific_sample: mean=576.2ms, total=576.2ms, count=1, min=576.2ms, max=576.2ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=628.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.1us, 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 08:23:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:23:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:23:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:23:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:23:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:23:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:23:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:23:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:23:29 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 08:23:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:23:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006486m	[env.py: 870]
+05/10 08:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:23:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83284641  0.93563492  0.00648628] yaw=-151.8deg	[env.py: 1019]
+05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98225377  0.42356502  0.00648628] yaw=179.0deg	[env.py: 1019]
+05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02074544  1.04713222  0.00648628] yaw=-145.8deg	[env.py: 1019]
+05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:23:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=359.8ms, total=359.8ms	[env.py: 1075]
+05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.936, 0.006)	[env.py: 1079]
+05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.8 deg	[env.py: 1082]
+05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m	[env.py: 1086]
+05/10 08:23:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:23:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:23:30 INFO: [Worker 0] Saved videos eagerly for episode 85 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:23:30 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 08:23:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:23:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:23:30 INFO: [Worker 0] Worker 0 house 1 episode 120/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:23:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:23:30 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 08:23:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:23:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:23:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.736s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:23:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.541[m] 88.034[deg]	[grasp_sample.py: 539]
+05/10 08:23:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:23:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:23:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:23:35 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 08:23:35 INFO: [Worker 0] [PROFILE] Episode 116 house 1 success=True episode_total=0.53s:
+  episode_total: mean=107.66s, total=215.32s, count=2, min=205.9ms, max=215113.7ms
+  sensor_polling: mean=545.4ms, total=163.63s, count=300, min=484.2ms, max=909.4ms
+  physics_step: mean=25.9ms, total=7.76s, count=300, min=17.0ms, max=87.8ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4493.6ms, max=4493.6ms
+  task_specific_sample: mean=361.3ms, total=722.6ms, count=2, min=200.7ms, max=521.9ms
+  task_sampling: mean=525.4ms, total=525.4ms, count=1, min=525.4ms, max=525.4ms
+  task_sampling_failed: mean=205.8ms, total=205.8ms, count=1, min=205.8ms, max=205.8ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.5ms, max=2.4ms
+  mj_forward_sync: mean=497.1us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=31.0us, 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 08:23:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:23:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:23:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:23:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:23:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:23:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:23:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:23:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:23:36 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 08:23:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:23:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023267m	[env.py: 870]
+05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:23:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98292388  0.38188135  0.02326662] yaw=162.4deg	[env.py: 1019]
+05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74114537  0.00918878  0.02326662] yaw=164.5deg	[env.py: 1019]
+05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94562785  0.40990418  0.02326662] yaw=175.9deg	[env.py: 1019]
+05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:23:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.1ms, total=146.1ms	[env.py: 1075]
+05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.983, 0.382, 0.023)	[env.py: 1079]
+05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.4 deg	[env.py: 1082]
+05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.726m	[env.py: 1086]
+05/10 08:23:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:23:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:23:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:23:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:23:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:23:37 INFO: [Worker 0] Worker 0 house 1 episode 117/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:23:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:23:37 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 08:23:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:23:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:23:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:23:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.522s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:23:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.280[m] 90.323[deg]	[grasp_sample.py: 539]
+05/10 08:23:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:23:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:23:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:23:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:23:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:23:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:23:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:23:57 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 08:23:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:23:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:23:59 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.768s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:23:59 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.846[deg]	[grasp_sample.py: 539]
+05/10 08:23:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:23:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:23:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:24:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:24:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:24:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:24:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:24:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:24:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:24:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:24:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:24:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:24:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:24:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:24:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:24:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:24:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:24:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:24:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:24:43 INFO: [Worker 0] Worker 0 house 1 episode 122 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:24:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:24:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:24:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:24:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:24:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:25:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:25:03 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 08:25:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:25:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:25:04 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.440s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:25:04 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.522[deg]	[grasp_sample.py: 539]
+05/10 08:25:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:25:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:25:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:25:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:25:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:25:07 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 08:25:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:25:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:25:07 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.401s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:25:07 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.510[deg]	[grasp_sample.py: 539]
+05/10 08:25:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:25:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:25:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:25:09 INFO: [Worker 0] Saved videos eagerly for episode 77 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:25:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 08:25:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:25:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:13 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 08:25:14 INFO: [Worker 0] [PROFILE] Episode 122 house 1 success=True episode_total=1.62s:
+  episode_total: mean=132.63s, total=397.90s, count=3, min=3105.8ms, max=216985.1ms
+  sensor_polling: mean=521.6ms, total=286.38s, count=549, min=457.6ms, max=893.3ms
+  physics_step: mean=24.5ms, total=13.47s, count=549, min=17.6ms, max=72.4ms
+  save_batch_prep: mean=4.85s, total=4.85s, count=1, min=4850.1ms, max=4850.1ms
+  task_sampling: mean=538.5ms, total=1.62s, count=3, min=367.9ms, max=807.1ms
+  task_specific_sample: mean=535.1ms, total=1.61s, count=3, min=364.2ms, max=804.0ms
+  scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.5ms, max=2.3ms
+  mj_forward_sync: mean=480.1us, total=1.4ms, count=3, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:25:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:25:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:25:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:25:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:25:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:25:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:25:16 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 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036854m	[env.py: 870]
+05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:25:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 123.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83644964  0.42037954  0.03685378] yaw=180.8deg	[env.py: 1019]
+05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.17027121  0.95696065  0.03685378] yaw=-140.6deg	[env.py: 1019]
+05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:25:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=265.1ms, total=265.1ms	[env.py: 1075]
+05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.836, 0.420, 0.037)	[env.py: 1079]
+05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.8 deg	[env.py: 1082]
+05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/10 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:25:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:25:17 INFO: [Worker 0] Worker 0 house 1 episode 123/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:25:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:25:17 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 08:25:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:25:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:25:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.709s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:25:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.400[m] 82.315[deg]	[grasp_sample.py: 539]
+05/10 08:25:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:25:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:25:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:25:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:25:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:25:21 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 08:25:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:25:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:25:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:25 INFO: [Worker 0] Feasibility-checked 76 grasps in 4.138s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:25:25 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.053[m] 10.058[deg]	[grasp_sample.py: 539]
+05/10 08:25:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:25:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:25:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 08:25:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:25:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:25:26 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.423s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:25:26 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.506[deg]	[grasp_sample.py: 539]
+05/10 08:25:27 ERROR: [Worker 0] Worker 0 house 1 episode 115 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 08:25:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:25:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:25:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:25:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:25:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:25:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:25:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:25:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:25:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:25:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:25:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:25:28 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 08:25:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:25:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017260m	[env.py: 870]
+05/10 08:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:25:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76437469  0.74141855 -0.01726041] yaw=-171.3deg	[env.py: 1019]
+05/10 08:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:25:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=506.6ms, total=506.6ms	[env.py: 1075]
+05/10 08:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.764, 0.741, -0.017)	[env.py: 1079]
+05/10 08:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.3 deg	[env.py: 1082]
+05/10 08:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/10 08:25:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:25:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:25:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:25:29 INFO: [Worker 0] Worker 0 house 1 episode 116/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:25:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:25:29 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 08:25:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:25:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:25:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:25:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.537[m] 90.675[deg]	[grasp_sample.py: 539]
+05/10 08:25:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:25:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:25:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:25:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:25:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:25:41 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/10 08:25:42 INFO: [Worker 0] Worker 0 house 1 episode 117 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 08:25:42 INFO: [Worker 0] [PROFILE] Episode 117 house 1 success=False episode_total=0.49s:
+  episode_total: mean=125.38s, total=125.38s, count=1, min=125383.7ms, max=125383.7ms
+  sensor_polling: mean=529.2ms, total=81.49s, count=154, min=482.2ms, max=842.8ms
+  physics_step: mean=25.2ms, total=3.89s, count=154, min=14.2ms, max=139.7ms
+  task_sampling: mean=486.6ms, total=486.6ms, count=1, min=486.6ms, max=486.6ms
+  task_specific_sample: mean=482.6ms, total=482.6ms, count=1, min=482.6ms, max=482.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=442.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.9us, 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 08:25:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:25:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:25:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:25:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:25:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:25:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:25:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:25:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:25:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:25:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:25:44 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 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038751m	[env.py: 870]
+05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:25:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74842706  0.63688242  0.03875087] yaw=-180.2deg	[env.py: 1019]
+05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95887483  0.97396371  0.03875087] yaw=-142.2deg	[env.py: 1019]
+05/10 08:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81161713  0.50239705  0.03875087] yaw=-189.1deg	[env.py: 1019]
+05/10 08:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:25:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=696.8ms, total=696.8ms	[env.py: 1075]
+05/10 08:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.748, 0.637, 0.039)	[env.py: 1079]
+05/10 08:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.2 deg	[env.py: 1082]
+05/10 08:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m	[env.py: 1086]
+05/10 08:25:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:25:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:25:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:25:45 INFO: [Worker 0] Worker 0 house 1 episode 118/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:25:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:25:45 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 08:25:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:25:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:25:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.974s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:25:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.522[m] 87.809[deg]	[grasp_sample.py: 539]
+05/10 08:25:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:25:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:25:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:26:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:26:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:26:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:26:20 INFO: [Worker 0] Worker 0 house 1 episode 120 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:26:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:26:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:26:45 INFO: [Worker 0] Saved videos eagerly for episode 87 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:26:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 08:26:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:26:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:26:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:26:50 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 08:26:50 INFO: [Worker 0] [PROFILE] Episode 120 house 1 success=True episode_total=0.83s:
+  episode_total: mean=200.72s, total=200.72s, count=1, min=200717.7ms, max=200717.7ms
+  sensor_polling: mean=522.5ms, total=156.76s, count=300, min=453.5ms, max=920.2ms
+  physics_step: mean=25.8ms, total=7.74s, count=300, min=16.8ms, max=108.7ms
+  save_batch_prep: mean=4.84s, total=4.84s, count=1, min=4835.8ms, max=4835.8ms
+  task_sampling: mean=826.0ms, total=826.0ms, count=1, min=826.0ms, max=826.0ms
+  task_specific_sample: mean=821.6ms, total=821.6ms, count=1, min=821.6ms, max=821.6ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=502.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:26:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:26:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:26:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:26:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:26:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:26:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:26:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007038m	[env.py: 870]
+05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:26:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13788061  0.94219935  0.00703791] yaw=-134.7deg	[env.py: 1019]
+05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92153458  0.49730363  0.00703791] yaw=-175.5deg	[env.py: 1019]
+05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.19188734  0.99250779  0.00703791] yaw=-137.9deg	[env.py: 1019]
+05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:26:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.5ms, total=259.6ms	[env.py: 1075]
+05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.138, 0.942, 0.007)	[env.py: 1079]
+05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.7 deg	[env.py: 1082]
+05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.728m	[env.py: 1086]
+05/10 08:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:26:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:26:52 INFO: [Worker 0] Worker 0 house 1 episode 121/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:26:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:26:53 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 08:26:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:26:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:26:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.527s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:26:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.311[m] 90.625[deg]	[grasp_sample.py: 539]
+05/10 08:26:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:26:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:26:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:26:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:27:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:27:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:27:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:27:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:28:04 INFO: [Worker 0] Worker 0 house 1 episode 123 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:28:19 INFO: [Worker 0] Worker 0 house 1 episode 116 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:28:28 INFO: [Worker 0] Saved videos eagerly for episode 78 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:28:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 08:28:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:28:32 INFO: [Worker 0] Worker 0 house 1 episode 118 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:28:32 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 08:28:32 INFO: [Worker 0] [PROFILE] Episode 123 house 1 success=True episode_total=0.71s:
+  episode_total: mean=196.41s, total=196.41s, count=1, min=196410.6ms, max=196410.6ms
+  sensor_polling: mean=516.4ms, total=154.91s, count=300, min=471.5ms, max=971.9ms
+  physics_step: mean=26.4ms, total=7.93s, count=300, min=16.2ms, max=99.7ms
+  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4539.6ms, max=4539.6ms
+  task_sampling: mean=713.9ms, total=713.9ms, count=1, min=713.9ms, max=713.9ms
+  task_specific_sample: mean=708.8ms, total=708.8ms, count=1, min=708.8ms, max=708.8ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=761.7us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
+  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:28:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:28:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:28:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:28:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:28:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:28:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:28:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:28:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:28:34 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 08:28:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:28:34 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 08:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034670m	[env.py: 870]
+05/10 08:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:28:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87029173  0.12530936  0.03466973] yaw=166.6deg	[env.py: 1019]
+05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80896169  0.05570355  0.03466973] yaw=147.2deg	[env.py: 1019]
+05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.72265203  0.39453783  0.03466973] yaw=170.9deg	[env.py: 1019]
+05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:28:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=256.9ms, total=257.0ms	[env.py: 1075]
+05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.125, 0.035)	[env.py: 1079]
+05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.6 deg	[env.py: 1082]
+05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m	[env.py: 1086]
+05/10 08:28:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:28:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:28:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:28:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:28:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:28:35 INFO: [Worker 0] Worker 0 house 1 episode 124/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:28:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:28:35 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 08:28:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:28:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:28:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.630s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:28:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.513[m] 104.241[deg]	[grasp_sample.py: 539]
+05/10 08:28:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:28:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:28:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:28:43 INFO: [Worker 0] Saved videos eagerly for episode 84 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:28:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 08:28:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:28:48 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 08:28:48 INFO: [Worker 0] [PROFILE] Episode 116 house 1 success=True episode_total=1.43s:
+  episode_total: mean=181.92s, total=363.85s, count=2, min=164085.0ms, max=199762.2ms
+  sensor_polling: mean=518.9ms, total=294.20s, count=567, min=466.0ms, max=1002.1ms
+  physics_step: mean=24.4ms, total=13.82s, count=567, min=17.5ms, max=110.0ms
+  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5026.5ms, max=5026.5ms
+  task_sampling: mean=715.9ms, total=1.43s, count=2, min=610.4ms, max=821.5ms
+  task_specific_sample: mean=712.0ms, total=1.42s, count=2, min=606.8ms, max=817.2ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=2.1ms, max=2.2ms
+  mj_forward_sync: mean=454.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  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 08:28:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:28:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:28:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:28:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:28:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:28:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:28:50 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 08:28:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:28:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041330m	[env.py: 870]
+05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:28:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68092912  0.81861869 -0.04133034] yaw=-165.2deg	[env.py: 1019]
+05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79984945  0.32191558 -0.04133034] yaw=176.2deg	[env.py: 1019]
+05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84221971  0.16164369 -0.04133034] yaw=170.4deg	[env.py: 1019]
+05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:28:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.3ms, total=157.3ms	[env.py: 1075]
+05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.681, 0.819, -0.041)	[env.py: 1079]
+05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.2 deg	[env.py: 1082]
+05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m	[env.py: 1086]
+05/10 08:28:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:28:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:28:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:28:50 INFO: [Worker 0] Worker 0 house 1 episode 117/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:28:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:28:50 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 08:28:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:28:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:28:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.632s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:28:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.690[m] 95.679[deg]	[grasp_sample.py: 539]
+05/10 08:28:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:28:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:28:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:28:55 INFO: [Worker 0] Saved videos eagerly for episode 86 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:28:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 08:28:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:28:59 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 08:28:59 INFO: [Worker 0] [PROFILE] Episode 118 house 1 success=True episode_total=1.00s:
+  episode_total: mean=195.42s, total=195.42s, count=1, min=195417.1ms, max=195417.1ms
+  sensor_polling: mean=516.5ms, total=154.96s, count=300, min=470.6ms, max=957.0ms
+  physics_step: mean=26.2ms, total=7.87s, count=300, min=19.5ms, max=62.4ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4337.3ms, max=4337.3ms
+  task_sampling: mean=996.1ms, total=996.1ms, count=1, min=996.1ms, max=996.1ms
+  task_specific_sample: mean=992.0ms, total=992.0ms, count=1, min=992.0ms, max=992.0ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=531.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.5us, 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 08:29:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:29:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:29:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:29:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:29:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:29:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:29:01 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 08:29:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:29:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026371m	[env.py: 870]
+05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:29:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97237059  0.97376724  0.02637085] yaw=-150.5deg	[env.py: 1019]
+05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90142267  0.2216012   0.02637085] yaw=172.4deg	[env.py: 1019]
+05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79274007  0.00155895  0.02637085] yaw=161.1deg	[env.py: 1019]
+05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:29:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=288.6ms, total=288.6ms	[env.py: 1075]
+05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.974, 0.026)	[env.py: 1079]
+05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg	[env.py: 1082]
+05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
+05/10 08:29:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:29:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:29:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:29:02 INFO: [Worker 0] Worker 0 house 1 episode 119/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:29:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:29:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 08:29:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:29:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:29:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.580s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:29:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.471[m] 94.693[deg]	[grasp_sample.py: 539]
+05/10 08:29:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:29:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:29:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:29:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:29:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:29:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:29:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:29:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:29:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:29:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:29:36 INFO: [Worker 0] Worker 0 house 1 episode 121 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:29:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:29:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:29:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:30:01 INFO: [Worker 0] Saved videos eagerly for episode 88 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:30:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 08:30:01 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
+05/10 08:30:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:30:06 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 08:30:06 INFO: [Worker 0] [PROFILE] Episode 121 house 1 success=True episode_total=0.59s:
+  episode_total: mean=194.09s, total=194.09s, count=1, min=194088.2ms, max=194088.2ms
+  sensor_polling: mean=514.1ms, total=145.99s, count=284, min=466.0ms, max=848.7ms
+  physics_step: mean=24.7ms, total=7.02s, count=284, min=17.3ms, max=48.9ms
+  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4641.7ms, max=4641.7ms
+  task_sampling: mean=585.6ms, total=585.6ms, count=1, min=585.6ms, max=585.6ms
+  task_specific_sample: mean=581.4ms, total=581.4ms, count=1, min=581.4ms, max=581.4ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=453.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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 08:30:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:30:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:30:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:30:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:30:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:30:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:30:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:30:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:30:08 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 08:30:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:30:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003729m	[env.py: 870]
+05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:30:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89988259  0.57618367  0.00372939] yaw=-167.6deg	[env.py: 1019]
+05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98183999  0.54198834  0.00372939] yaw=-176.6deg	[env.py: 1019]
+05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82440876  0.54710473  0.00372939] yaw=-180.2deg	[env.py: 1019]
+05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:30:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=301.6ms, total=301.6ms	[env.py: 1075]
+05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.576, 0.004)	[env.py: 1079]
+05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.6 deg	[env.py: 1082]
+05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
+05/10 08:30:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:30:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:30:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:30:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:30:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:30:08 INFO: [Worker 0] Worker 0 house 1 episode 122/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:30:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:30:08 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 08:30:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:30:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:30:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.542s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:30:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.374[m] 90.503[deg]	[grasp_sample.py: 539]
+05/10 08:30:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:30:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:30:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:30:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:30:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:30:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:30:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:30:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:31:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:31:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:31:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:31:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:31:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:31:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:31:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:31:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:31:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:31:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:31:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:31:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:31:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:31:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:31:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:31:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:31:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:31:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:31:33 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 08:31:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:31:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:31:33 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.423s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:31:33 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.048[m] 0.712[deg]	[grasp_sample.py: 539]
+05/10 08:31:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:31:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:31:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:31:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:31:41 INFO: [Worker 0] Worker 0 house 1 episode 117 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:31:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:31:51 INFO: [Worker 0] Worker 0 house 1 episode 119 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:31:51 INFO: [Worker 0] Worker 0 house 1 episode 124 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:32:04 INFO: [Worker 0] Saved videos eagerly for episode 85 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:32:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 08:32:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:32:09 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 08:32:09 INFO: [Worker 0] [PROFILE] Episode 117 house 1 success=True episode_total=0.47s:
+  episode_total: mean=199.21s, total=199.21s, count=1, min=199211.5ms, max=199211.5ms
+  sensor_polling: mean=526.2ms, total=157.85s, count=300, min=458.6ms, max=1021.6ms
+  physics_step: mean=25.5ms, total=7.64s, count=300, min=16.4ms, max=115.9ms
+  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4627.6ms, max=4627.6ms
+  task_sampling: mean=470.4ms, total=470.4ms, count=1, min=470.4ms, max=470.4ms
+  task_specific_sample: mean=466.0ms, total=466.0ms, count=1, min=466.0ms, max=466.0ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=489.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:32:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:32:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:32:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:32:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:32:11 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 08:32:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:32:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031244m	[env.py: 870]
+05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:32:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97416424  1.01483523 -0.03124442] yaw=-150.5deg	[env.py: 1019]
+05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85200032  1.00875264 -0.03124442] yaw=-157.0deg	[env.py: 1019]
+05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98531501  1.20279075 -0.03124442] yaw=-125.2deg	[env.py: 1019]
+05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:32:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=277.7ms, total=277.8ms	[env.py: 1075]
+05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.974, 1.015, -0.031)	[env.py: 1079]
+05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg	[env.py: 1082]
+05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
+05/10 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:32:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:32:11 INFO: [Worker 0] Worker 0 house 1 episode 118/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:32:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:32:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 08:32:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:32:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:32:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.555s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:32:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.451[m] 82.264[deg]	[grasp_sample.py: 539]
+05/10 08:32:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:32:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:32:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:32:13 INFO: [Worker 0] Saved videos eagerly for episode 87 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:32:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 08:32:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:32:15 INFO: [Worker 0] Saved videos eagerly for episode 79 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:32:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 08:32:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:32:17 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 08:32:17 INFO: [Worker 0] [PROFILE] Episode 119 house 1 success=True episode_total=0.63s:
+  episode_total: mean=196.14s, total=196.14s, count=1, min=196137.9ms, max=196137.9ms
+  sensor_polling: mean=524.6ms, total=157.39s, count=300, min=456.3ms, max=859.7ms
+  physics_step: mean=25.9ms, total=7.78s, count=300, min=17.1ms, max=122.8ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4134.5ms, max=4134.5ms
+  task_sampling: mean=633.7ms, total=633.7ms, count=1, min=633.7ms, max=633.7ms
+  task_specific_sample: mean=630.1ms, total=630.1ms, count=1, min=630.1ms, max=630.1ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=472.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:32:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:32:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:32:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:32:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:32:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:32:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:32:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:32:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:32:19 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 08:32:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:32:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004444m	[env.py: 870]
+05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:32:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77729781  0.36365843  0.00444376] yaw=183.7deg	[env.py: 1019]
+05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:32:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.2ms, total=206.3ms	[env.py: 1075]
+05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.364, 0.004)	[env.py: 1079]
+05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.7 deg	[env.py: 1082]
+05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
+05/10 08:32:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:32:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:32:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:32:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:32:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:32:19 INFO: [Worker 0] Worker 0 house 1 episode 120/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:32:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:32:19 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 08:32:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:32:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:32:20 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 08:32:20 INFO: [Worker 0] [PROFILE] Episode 124 house 1 success=True episode_total=0.56s:
+  episode_total: mean=225.28s, total=225.28s, count=1, min=225280.4ms, max=225280.4ms
+  sensor_polling: mean=530.7ms, total=159.22s, count=300, min=461.6ms, max=985.7ms
+  physics_step: mean=25.8ms, total=7.73s, count=300, min=15.5ms, max=44.5ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4336.3ms, max=4336.3ms
+  task_sampling: mean=560.2ms, total=560.2ms, count=1, min=560.2ms, max=560.2ms
+  task_specific_sample: mean=556.0ms, total=556.0ms, count=1, min=556.0ms, max=556.0ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=475.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:32:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.490s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:32:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.487[m] 91.040[deg]	[grasp_sample.py: 539]
+05/10 08:32:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:32:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:32:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:32:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:32:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:32:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:32:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:32:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:32:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:32:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:32:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:32:21 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 08:32:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:32:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013329m	[env.py: 870]
+05/10 08:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:32:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83170205  0.42673976 -0.01332869] yaw=186.7deg	[env.py: 1019]
+05/10 08:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94594294  0.18919986 -0.01332869] yaw=169.4deg	[env.py: 1019]
+05/10 08:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10542348  1.20851436 -0.01332869] yaw=-125.5deg	[env.py: 1019]
+05/10 08:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:32:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.2ms, total=195.3ms	[env.py: 1075]
+05/10 08:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.832, 0.427, -0.013)	[env.py: 1079]
+05/10 08:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.7 deg	[env.py: 1082]
+05/10 08:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
+05/10 08:32:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:32:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:32:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:32:22 INFO: [Worker 0] Worker 0 house 1 episode 125/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:32:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:32:22 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 08:32:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:32:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:32:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.529s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:32:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.457[m] 94.672[deg]	[grasp_sample.py: 539]
+05/10 08:32:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:32:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:32:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:32:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:32:56 INFO: [Worker 0] Worker 0 house 1 episode 122 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:33:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:33:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:33:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:33:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:33:17 INFO: [Worker 0] Saved videos eagerly for episode 89 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:33:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 08:33:17 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/10 08:33:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:33:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:33:22 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 08:33:22 INFO: [Worker 0] [PROFILE] Episode 122 house 1 success=True episode_total=0.60s:
+  episode_total: mean=194.00s, total=194.00s, count=1, min=193997.9ms, max=193997.9ms
+  sensor_polling: mean=517.2ms, total=153.60s, count=297, min=453.1ms, max=973.7ms
+  physics_step: mean=24.9ms, total=7.38s, count=297, min=20.1ms, max=102.8ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4284.7ms, max=4284.7ms
+  task_sampling: mean=602.2ms, total=602.2ms, count=1, min=602.2ms, max=602.2ms
+  task_specific_sample: mean=598.5ms, total=598.5ms, count=1, min=598.5ms, max=598.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=440.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:33:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:33:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:33:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:33:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:33:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:33:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:33:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:33:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:33:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:33:23 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 08:33:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:33:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040894m	[env.py: 870]
+05/10 08:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:33:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97011445  0.31285578  0.04089413] yaw=169.4deg	[env.py: 1019]
+05/10 08:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9750836   1.04312421  0.04089413] yaw=-135.3deg	[env.py: 1019]
+05/10 08:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87265657  0.83956029  0.04089413] yaw=-151.8deg	[env.py: 1019]
+05/10 08:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:33:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=232.5ms, total=232.5ms	[env.py: 1075]
+05/10 08:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.970, 0.313, 0.041)	[env.py: 1079]
+05/10 08:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.4 deg	[env.py: 1082]
+05/10 08:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m	[env.py: 1086]
+05/10 08:33:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:33:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:33:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:33:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:33:24 INFO: [Worker 0] Worker 0 house 1 episode 123/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:33:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:33:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 08:33:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:33:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:33:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.484s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:33:25 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.301[m] 88.187[deg]	[grasp_sample.py: 539]
+05/10 08:33:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:33:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:33:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:33:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:34:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:34:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:34:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:34:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:34:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:34:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:34:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:34:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:34:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:34:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:34:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:34:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:34:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:34:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:34:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:34:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:34:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:34:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:34:50 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 08:34:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:34:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:34:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:34:51 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.574s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:34:51 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.221[deg]	[grasp_sample.py: 539]
+05/10 08:34:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:34:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:34:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:34:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:34:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:34:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:34:52 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 08:34:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:34:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:34:52 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:34:52 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.222[deg]	[grasp_sample.py: 539]
+05/10 08:34:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:34:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:34:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:34:55 INFO: [Worker 0] Worker 0 house 1 episode 118 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:34:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:34:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:34:57 INFO: [Worker 0] Worker 0 house 1 episode 120 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:34:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:34:58 INFO: [Worker 0] Worker 0 house 1 episode 125 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:35:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:35:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:35:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:35:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:35:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:35:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:35:21 INFO: [Worker 0] Saved videos eagerly for episode 88 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:35:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 08:35:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:35:21 INFO: [Worker 0] Saved videos eagerly for episode 86 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:35:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 08:35:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:35:23 INFO: [Worker 0] Saved videos eagerly for episode 80 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:35:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 08:35:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:35:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:35:25 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 08:35:25 INFO: [Worker 0] [PROFILE] Episode 120 house 1 success=True episode_total=0.50s:
+  episode_total: mean=185.87s, total=185.87s, count=1, min=185872.4ms, max=185872.4ms
+  sensor_polling: mean=486.0ms, total=145.80s, count=300, min=425.7ms, max=754.8ms
+  physics_step: mean=24.4ms, total=7.33s, count=300, min=16.0ms, max=58.9ms
+  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4105.4ms, max=4105.4ms
+  task_sampling: mean=498.4ms, total=498.4ms, count=1, min=498.4ms, max=498.4ms
+  task_specific_sample: mean=494.6ms, total=494.6ms, count=1, min=494.6ms, max=494.6ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=445.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:35:25 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 08:35:25 INFO: [Worker 0] [PROFILE] Episode 118 house 1 success=True episode_total=0.57s:
+  episode_total: mean=194.44s, total=194.44s, count=1, min=194437.4ms, max=194437.4ms
+  sensor_polling: mean=471.5ms, total=141.45s, count=300, min=417.7ms, max=735.0ms
+  physics_step: mean=21.5ms, total=6.44s, count=300, min=15.1ms, max=36.8ms
+  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4235.7ms, max=4235.7ms
+  task_sampling: mean=573.4ms, total=573.4ms, count=1, min=573.4ms, max=573.4ms
+  task_specific_sample: mean=569.3ms, total=569.3ms, count=1, min=569.3ms, max=569.3ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=440.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:35:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:35:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:35:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:35:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:35:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:35:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:35:26 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 08:35:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:35:26 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 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038878m	[env.py: 870]
+05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:35:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91539784  0.40336499  0.0388776 ] yaw=176.3deg	[env.py: 1019]
+05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:35:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=165.5ms, total=165.5ms	[env.py: 1075]
+05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.915, 0.403, 0.039)	[env.py: 1079]
+05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.3 deg	[env.py: 1082]
+05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m	[env.py: 1086]
+05/10 08:35:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:35:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:35:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:35:27 INFO: [Worker 0] Worker 0 house 1 episode 121/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:35:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:35:27 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 08:35:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:35:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:35:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:35:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:35:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:35:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:35:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:35:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:35:27 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 08:35:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:35:27 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 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033159m	[env.py: 870]
+05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:35:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04408317  0.88811712  0.03315941] yaw=-152.8deg	[env.py: 1019]
+05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07834077  1.12105494  0.03315941] yaw=-140.2deg	[env.py: 1019]
+05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.66739052  0.18949019  0.03315941] yaw=155.1deg	[env.py: 1019]
+05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:35:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.1ms, total=109.2ms	[env.py: 1075]
+05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.044, 0.888, 0.033)	[env.py: 1079]
+05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.8 deg	[env.py: 1082]
+05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.773m	[env.py: 1086]
+05/10 08:35:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:35:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:35:27 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 08:35:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:35:27 INFO: [Worker 0] Worker 0 house 1 episode 119/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:35:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:35:27 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 08:35:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:35:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.483s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:35:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.347[m] 87.844[deg]	[grasp_sample.py: 539]
+05/10 08:35:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:35:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:35:27 INFO: [Worker 0] [PROFILE] Episode 125 house 1 success=True episode_total=0.49s:
+  episode_total: mean=186.02s, total=186.02s, count=1, min=186019.0ms, max=186019.0ms
+  sensor_polling: mean=486.3ms, total=145.89s, count=300, min=425.6ms, max=741.2ms
+  physics_step: mean=22.4ms, total=6.71s, count=300, min=16.4ms, max=35.5ms
+  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4229.6ms, max=4229.6ms
+  task_sampling: mean=491.2ms, total=491.2ms, count=1, min=491.2ms, max=491.2ms
+  task_specific_sample: mean=487.3ms, total=487.3ms, count=1, min=487.3ms, max=487.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=452.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:35:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:35:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:35:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.526s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:35:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.326[m] 77.487[deg]	[grasp_sample.py: 539]
+05/10 08:35:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:35:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:35:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:35:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:35:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:35:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:35:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:35:29 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 08:35:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:35:29 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 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033549m	[env.py: 870]
+05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:35:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72823794  0.5005581   0.0335494 ] yaw=-179.8deg	[env.py: 1019]
+05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86364406  0.55936001  0.0335494 ] yaw=-166.0deg	[env.py: 1019]
+05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.69503607  0.82426719  0.0335494 ] yaw=-153.7deg	[env.py: 1019]
+05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:35:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.3ms, total=157.3ms	[env.py: 1075]
+05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.728, 0.501, 0.034)	[env.py: 1079]
+05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.8 deg	[env.py: 1082]
+05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m	[env.py: 1086]
+05/10 08:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:35:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:35:29 INFO: [Worker 0] Worker 0 house 1 episode 126/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:35:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:35:30 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 08:35:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:35:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:35:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.650s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:35:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.540[m] 95.478[deg]	[grasp_sample.py: 539]
+05/10 08:35:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:35:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:35:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:35:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:35:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:35:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:35:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:35:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:35:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:35:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:35:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:35:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:35:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:35:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 08:35:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:35:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:35:47 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.382s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:35:47 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.617[deg]	[grasp_sample.py: 539]
+05/10 08:35:48 ERROR: [Worker 0] Worker 0 house 1 episode 123 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 08:35:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:35:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:35:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:35:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:35:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:35:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:35:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:35:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:35:50 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 08:35:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:35:50 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 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033112m	[env.py: 870]
+05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:35:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7470702   0.89796488  0.03311169] yaw=-156.0deg	[env.py: 1019]
+05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9291014   0.44031533  0.03311169] yaw=181.9deg	[env.py: 1019]
+05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80114761  0.27315374  0.03311169] yaw=178.1deg	[env.py: 1019]
+05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:35:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.4ms, total=107.4ms	[env.py: 1075]
+05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.898, 0.033)	[env.py: 1079]
+05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.0 deg	[env.py: 1082]
+05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m	[env.py: 1086]
+05/10 08:35:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:35:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:35:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:35:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:35:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:35:50 INFO: [Worker 0] Worker 0 house 1 episode 124/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:35:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:35:51 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 08:35:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:35:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:35:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.466s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:35:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.623[m] 91.862[deg]	[grasp_sample.py: 539]
+05/10 08:35:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:35:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:35:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:35:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:36:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:36:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:36:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:36:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:36:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:36:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:36:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:36:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:36:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:36:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:37:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:37:44 INFO: [Worker 0] Worker 0 house 1 episode 119 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:37:53 INFO: [Worker 0] Worker 0 house 1 episode 121 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:37:53 INFO: [Worker 0] Worker 0 house 1 episode 126 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:38:06 INFO: [Worker 0] Saved videos eagerly for episode 87 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:38:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 08:38:06 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/10 08:38:10 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 08:38:10 INFO: [Worker 0] [PROFILE] Episode 119 house 1 success=True episode_total=0.39s:
+  episode_total: mean=163.31s, total=163.31s, count=1, min=163305.7ms, max=163305.7ms
+  sensor_polling: mean=449.5ms, total=128.56s, count=286, min=413.5ms, max=753.4ms
+  physics_step: mean=19.6ms, total=5.60s, count=286, min=16.7ms, max=31.6ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3866.1ms, max=3866.1ms
+  task_sampling: mean=385.8ms, total=385.8ms, count=1, min=385.8ms, max=385.8ms
+  task_specific_sample: mean=382.4ms, total=382.4ms, count=1, min=382.4ms, max=382.4ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=414.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.5us, 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 08:38:11 INFO: [Worker 0] Worker 0 house 1 episode 124 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:38:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:38:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:38:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:38:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:38:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:38:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:38:12 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 08:38:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:38:12 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 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039866m	[env.py: 870]
+05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:38:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.04322438  1.15420995  0.0398656 ] yaw=-124.2deg	[env.py: 1019]
+05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.05667485  0.89633784  0.0398656 ] yaw=-144.1deg	[env.py: 1019]
+05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:38:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=170.3ms, total=170.3ms	[env.py: 1075]
+05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.043, 1.154, 0.040)	[env.py: 1079]
+05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.2 deg	[env.py: 1082]
+05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
+05/10 08:38:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:38:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:38:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:38:12 INFO: [Worker 0] Worker 0 house 1 episode 120/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:38:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:38:12 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 08:38:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:38:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:38:13 INFO: [Worker 0] Saved videos eagerly for episode 89 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:38:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 08:38:13 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
+05/10 08:38:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.611s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:38:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.532[m] 90.909[deg]	[grasp_sample.py: 539]
+05/10 08:38:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:38:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:38:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:38:16 INFO: [Worker 0] Saved videos eagerly for episode 81 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:38:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 08:38:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:38:17 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 08:38:17 INFO: [Worker 0] [PROFILE] Episode 121 house 1 success=True episode_total=0.42s:
+  episode_total: mean=170.71s, total=170.71s, count=1, min=170709.4ms, max=170709.4ms
+  sensor_polling: mean=449.7ms, total=130.42s, count=290, min=415.4ms, max=756.1ms
+  physics_step: mean=21.7ms, total=6.30s, count=290, min=17.4ms, max=33.6ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3874.8ms, max=3874.8ms
+  task_sampling: mean=421.4ms, total=421.4ms, count=1, min=421.4ms, max=421.4ms
+  task_specific_sample: mean=418.0ms, total=418.0ms, count=1, min=418.0ms, max=418.0ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=395.2us, 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 08:38:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:38:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:38:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:38:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:38:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:38:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:38:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:38:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:38:19 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 08:38:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:38:19 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 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045991m	[env.py: 870]
+05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:38:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85900732  0.97292256 -0.04599097] yaw=-148.7deg	[env.py: 1019]
+05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.01746074  0.64078346 -0.04599097] yaw=-164.2deg	[env.py: 1019]
+05/10 08:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:38:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=952.6ms, total=952.7ms	[env.py: 1075]
+05/10 08:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.859, 0.973, -0.046)	[env.py: 1079]
+05/10 08:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.7 deg	[env.py: 1082]
+05/10 08:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
+05/10 08:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:38:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:38:20 INFO: [Worker 0] Worker 0 house 1 episode 122/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:38:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:38:20 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 08:38:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:38:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:38:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.623s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:38:23 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.572[m] 91.861[deg]	[grasp_sample.py: 539]
+05/10 08:38:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:38:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:38:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:38:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:38:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:38:29 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.59s (batch: 4.35s, save: 9.23s)	[pipeline.py: 300]
+05/10 08:38:30 INFO: [Worker 0] [PROFILE] Episode 126 house 1 success=True episode_total=0.42s:
+  episode_total: mean=180.86s, total=180.86s, count=1, min=180856.4ms, max=180856.4ms
+  sensor_polling: mean=446.2ms, total=133.87s, count=300, min=410.5ms, max=744.6ms
+  save_trajectories: mean=9.23s, total=9.23s, count=1, min=9231.1ms, max=9231.1ms
+  physics_step: mean=20.9ms, total=6.28s, count=300, min=14.0ms, max=40.6ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4354.4ms, max=4354.4ms
+  task_sampling: mean=422.8ms, total=422.8ms, count=1, min=422.8ms, max=422.8ms
+  task_specific_sample: mean=418.9ms, total=418.9ms, count=1, min=418.9ms, max=418.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=390.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:38:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:38:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:38:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:38:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:38:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:38:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:38:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:38:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:38:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040225m	[env.py: 870]
+05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:38:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77809856  0.76928139 -0.04022476] yaw=-156.6deg	[env.py: 1019]
+05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84071766  1.13222969 -0.04022476] yaw=-145.0deg	[env.py: 1019]
+05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93104028  0.3226719  -0.04022476] yaw=158.7deg	[env.py: 1019]
+05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:38:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.0ms, total=138.1ms	[env.py: 1075]
+05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.778, 0.769, -0.040)	[env.py: 1079]
+05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.6 deg	[env.py: 1082]
+05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
+05/10 08:38:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:38:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:38:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:38:32 INFO: [Worker 0] Worker 0 house 1 episode 127/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:38:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:38:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 08:38:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:38:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:38:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.527s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:38:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.538[m] 85.939[deg]	[grasp_sample.py: 539]
+05/10 08:38:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:38:33 INFO: [Worker 0] Saved videos eagerly for episode 90 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:38:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 08:38:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:38:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:38:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:38:37 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 08:38:37 INFO: [Worker 0] [PROFILE] Episode 124 house 1 success=True episode_total=0.91s:
+  episode_total: mean=156.10s, total=312.20s, count=2, min=145077.8ms, max=167124.9ms
+  sensor_polling: mean=459.1ms, total=232.78s, count=507, min=382.3ms, max=760.6ms
+  physics_step: mean=20.8ms, total=10.54s, count=507, min=12.9ms, max=70.7ms
+  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3970.8ms, max=3970.8ms
+  task_sampling: mean=456.7ms, total=913.4ms, count=2, min=352.3ms, max=561.1ms
+  task_specific_sample: mean=453.1ms, total=906.2ms, count=2, min=349.2ms, max=557.0ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms
+  mj_forward_sync: mean=422.9us, total=0.8ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]