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+05/09 19:54:33 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/09 19:54:33 INFO: Starting house-by-house rollout of 1 houses with 10 episodes each (10 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/09 19:54:33 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/09 19:54:33 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
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+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
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+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
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+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge1_minimal_wall/sim'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
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+ 'policy_dt_ms': 66.0,
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+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
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+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
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+                                        0.0],
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+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
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+ 'scene_dataset': 'ithor_minimal_fridge',
+ 'seed': 1103,
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+                 'use_sensors': True},
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+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
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+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
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+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 10,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/09 19:54:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/09 19:54:33 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/09 19:54:33 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/09 19:54:33 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/09 19:54:33 INFO: Starting house-by-house rollout of 1 houses with 10 episodes each (10 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/09 19:54:33 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/09 19:54:33 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge1_minimal_wall/sim'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7308767524d0>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge',
+ 'seed': 1101,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.7, 1.0),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 10,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/09 19:54:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/09 19:54:33 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/09 19:54:33 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/09 19:54:34 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/09 19:54:34 INFO: Starting house-by-house rollout of 1 houses with 10 episodes each (10 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/09 19:54:34 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/09 19:54:34 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge1_minimal_wall/sim'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x706482d11290>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge',
+ 'seed': 1102,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.7, 1.0),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 10,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/09 19:54:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/09 19:54:34 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/09 19:54:34 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/09 19:54:34 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/09 19:54:34 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/09 19:54:34 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/09 19:54:35 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/09 19:54:35 INFO: Starting house-by-house rollout of 1 houses with 10 episodes each (10 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/09 19:54:35 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/09 19:54:35 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge1_minimal_wall/sim'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7ea9c098b310>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge',
+ 'seed': 1104,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.7, 1.0),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 10,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/09 19:54:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/09 19:54:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/09 19:54:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/09 19:54:35 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/09 19:54:37 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/09 19:54:37 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/09 19:54:37 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/09 19:54:37 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/09 19:54:37 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/09 19:54:37 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/09 19:54:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 19:54:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 19:54:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 19:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 19:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 19:54:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 19:54:37 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 19:54:37 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 19:54:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 19:54:37 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]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028363m	[env.py: 870]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 19:54:37 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/09 19:54:37 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/09 19:54:37 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/09 19:54:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 19:54:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 19:54:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 19:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 19:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 19:54:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 19:54:37 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 19:54:37 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 19:54:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 19:54:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047811m	[env.py: 870]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 19:54:37 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.08019259  0.55463672 -0.028363  ] yaw=-160.1deg	[env.py: 1019]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 19:54:37 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/09 19:54:37 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95351912  0.7696376  -0.04781066] yaw=-149.9deg	[env.py: 1019]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02742427  0.51390942 -0.04781066] yaw=-168.4deg	[env.py: 1019]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.13496053  0.18061061 -0.028363  ] yaw=150.8deg	[env.py: 1019]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04847264  0.61278105 -0.028363  ] yaw=-167.2deg	[env.py: 1019]
+05/09 19:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 19:54:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=20.7ms, retries=400.3ms, total=421.1ms	[env.py: 1075]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.080, 0.555, -0.028)	[env.py: 1079]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.1 deg	[env.py: 1082]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.736m	[env.py: 1086]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:54:38 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10754237  0.85258669 -0.04781066] yaw=-158.3deg	[env.py: 1019]
+05/09 19:54:38 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/09 19:54:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 19:54:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 19:54:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=29.0ms, retries=469.8ms, total=498.8ms	[env.py: 1075]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.954, 0.770, -0.048)	[env.py: 1079]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.9 deg	[env.py: 1082]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 19:54:38 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 19:54:38 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 19:54:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 19:54:38 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]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030557m	[env.py: 870]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 19:54:38 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02033008  0.3582432  -0.03055719] yaw=166.8deg	[env.py: 1019]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02466867  0.87139715 -0.03055719] yaw=-155.1deg	[env.py: 1019]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.01366218  0.64483384 -0.03055719] yaw=-174.8deg	[env.py: 1019]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 19:54:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=35.3ms, retries=232.3ms, total=267.6ms	[env.py: 1075]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.358, -0.031)	[env.py: 1079]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.8 deg	[env.py: 1082]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.787m	[env.py: 1086]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 19:54:38 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 19:54:38 INFO: [Worker 0] Worker 0 house 1 episode 0/60 collected=0/10	[pipeline.py: 1044]
+05/09 19:54:38 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 19:54:38 INFO: [Worker 0] Worker 0 house 1 episode 0/60 collected=0/10	[pipeline.py: 1044]
+05/09 19:54:38 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 19:54:38 INFO: [Worker 0] Worker 0 house 1 episode 0/60 collected=0/10	[pipeline.py: 1044]
+05/09 19:54:38 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/09 19:54:38 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/09 19:54:38 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/09 19:54:38 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/09 19:54:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 19:54:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 19:54:38 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 19:54:38 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 19:54:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 19:54:38 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]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048919m	[env.py: 870]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 19:54:38 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.989392    0.99449403 -0.04891901] yaw=-134.7deg	[env.py: 1019]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04524885  0.51557716 -0.04891901] yaw=-176.4deg	[env.py: 1019]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88976325  0.15756062 -0.04891901] yaw=173.1deg	[env.py: 1019]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 19:54:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=18.3ms, retries=141.7ms, total=160.0ms	[env.py: 1075]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.989, 0.994, -0.049)	[env.py: 1079]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.7 deg	[env.py: 1082]
+05/09 19:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 19:54:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 19:54:39 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 19:54:39 INFO: [Worker 0] Worker 0 house 1 episode 0/60 collected=0/10	[pipeline.py: 1044]
+05/09 19:55:05 INFO: [Worker 0] Warmed up parallel IK solver in 27.056s	[base_object_manipulation_planner_policy.py: 377]
+05/09 19:55:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 19:55:05 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 19:55:05 INFO: [Worker 0] Collision-checked 388 grasps in 0.075s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 19:55:06 INFO: [Worker 0] Warmed up parallel IK solver in 27.643s	[base_object_manipulation_planner_policy.py: 377]
+05/09 19:55:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 19:55:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 19:55:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.080s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 19:55:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.464s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 19:55:06 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.491[m] 93.985[deg]	[grasp_sample.py: 539]
+05/09 19:55:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 19:55:06 INFO: [Worker 0] Warmed up parallel IK solver in 27.325s	[base_object_manipulation_planner_policy.py: 377]
+05/09 19:55:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 19:55:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 19:55:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.075s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 19:55:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 19:55:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:55:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.695s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 19:55:06 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.564[m] 91.714[deg]	[grasp_sample.py: 539]
+05/09 19:55:06 INFO: [Worker 0] Warmed up parallel IK solver in 28.518s	[base_object_manipulation_planner_policy.py: 377]
+05/09 19:55:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 19:55:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 19:55:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 19:55:07 INFO: [Worker 0] Collision-checked 388 grasps in 0.072s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 19:55:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.404s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 19:55:07 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.407[m] 86.296[deg]	[grasp_sample.py: 539]
+05/09 19:55:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 19:55:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:55:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 19:55:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 19:55:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:55:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.574s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 19:55:08 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.623[m] 88.667[deg]	[grasp_sample.py: 539]
+05/09 19:55:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 19:55:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 19:55:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:55:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:55:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:55:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 19:56:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:56:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:56:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 19:56:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:56:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:56:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 19:56:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:56:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 19:56:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:56:36 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/09 19:56:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 19:56:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 19:56:36 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 19:56:36 INFO: [Worker 0] Collision-checked 388 grasps in 0.079s, found 350 non-colliding grasps	[grasp_sample.py: 465]
+05/09 19:56:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.720s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 19:56:37 INFO: [Worker 0] Feasible grasp found 167 (originally 167): w/ 0.057[m] 7.430[deg]	[grasp_sample.py: 539]
+05/09 19:56:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 19:56:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 19:56:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:56:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:56:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 19:56:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:57:26 INFO: [Worker 0] Worker 0 house 1 episode 0 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 19:57:32 INFO: [Worker 0] Worker 0 house 1 episode 0 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 19:57:34 INFO: [Worker 0] Worker 0 house 1 episode 0 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 19:57:35 INFO: [Worker 0] Worker 0 house 1 episode 0 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 19:57:45 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 19:57:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 19:57:45 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/09 19:57:52 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 19:57:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 19:57:52 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/09 19:57:54 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 19:57:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 19:57:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 19:57:54 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 19:57:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 19:57:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 19:57:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 19:57:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 19:57:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.84s (batch: 4.09s, save: 8.74s)	[pipeline.py: 300]
+05/09 19:57:58 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.25s:
+  episode_total: mean=204.36s, total=204.36s, count=1, min=204355.5ms, max=204355.5ms
+  sensor_polling: mean=463.5ms, total=129.32s, count=279, min=440.8ms, max=588.8ms
+  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8742.6ms, max=8742.6ms
+  physics_step: mean=23.9ms, total=6.66s, count=279, min=17.0ms, max=32.9ms
+  task_sampling: mean=4.25s, total=4.25s, count=1, min=4251.7ms, max=4251.7ms
+  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4092.5ms, max=4092.5ms
+  scene_load: mean=3.38s, total=3.38s, count=1, min=3384.2ms, max=3384.2ms
+  scene_env_create: mean=2.16s, total=2.16s, count=1, min=2161.3ms, max=2161.3ms
+  scene_compile: mean=1.11s, total=1.11s, count=1, min=1108.6ms, max=1108.6ms
+  task_specific_sample: mean=864.8ms, total=864.8ms, count=1, min=864.8ms, max=864.8ms
+  compile_mujoco: mean=739.0ms, total=739.0ms, count=1, min=739.0ms, max=739.0ms
+  compile_xml_load: mean=292.5ms, total=292.5ms, count=1, min=292.5ms, max=292.5ms
+  scene_init: mean=69.9ms, total=69.9ms, count=1, min=69.9ms, max=69.9ms
+  compile_aux_objects: mean=56.3ms, total=56.3ms, count=1, min=56.3ms, max=56.3ms
+  compile_aux_policy_objects: mean=56.3ms, total=56.3ms, count=1, min=56.3ms, max=56.3ms
+  scene_asset_install: mean=44.1ms, total=44.1ms, count=1, min=44.1ms, max=44.1ms
+  asset_install_grasps: mean=30.5ms, total=30.5ms, count=1, min=30.5ms, max=30.5ms
+  asset_install_objects: mean=10.9ms, total=10.9ms, count=1, min=10.9ms, max=10.9ms
+  compile_robot_add: mean=10.7ms, total=10.7ms, count=1, min=10.7ms, max=10.7ms
+  asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=428.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=33.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 19:58:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 19:58:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 19:58:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 19:58:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 19:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 19:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 19:58:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 19:58:00 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 19:58:00 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 19:58:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 19:58:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 19:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 19:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 19:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004952m	[env.py: 870]
+05/09 19:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 19:58:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 19:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 19:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02051155  0.65949819 -0.00495213] yaw=-153.8deg	[env.py: 1019]
+05/09 19:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 19:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.19699475  0.86439853 -0.00495213] yaw=-150.2deg	[env.py: 1019]
+05/09 19:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 19:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 19:58:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=286.1ms, total=286.1ms	[env.py: 1075]
+05/09 19:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.021, 0.659, -0.005)	[env.py: 1079]
+05/09 19:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.8 deg	[env.py: 1082]
+05/09 19:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/09 19:58:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 19:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 19:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 19:58:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 19:58:00 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 19:58:00 INFO: [Worker 0] Worker 0 house 1 episode 1/60 collected=0/10	[pipeline.py: 1044]
+05/09 19:58:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/09 19:58:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 19:58:00 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 19:58:00 INFO: [Worker 0] Collision-checked 388 grasps in 0.063s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 19:58:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.454s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 19:58:01 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.447[m] 90.406[deg]	[grasp_sample.py: 539]
+05/09 19:58:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 19:58:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 19:58:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:58:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 19:58:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 19:58:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.61s (batch: 4.19s, save: 8.42s)	[pipeline.py: 300]
+05/09 19:58:05 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.72s:
+  episode_total: mean=211.65s, total=211.65s, count=1, min=211654.3ms, max=211654.3ms
+  sensor_polling: mean=459.4ms, total=136.44s, count=297, min=434.3ms, max=577.0ms
+  save_trajectories: mean=8.42s, total=8.42s, count=1, min=8422.0ms, max=8422.0ms
+  physics_step: mean=22.2ms, total=6.60s, count=297, min=18.3ms, max=31.2ms
+  task_sampling: mean=4.72s, total=4.72s, count=1, min=4721.8ms, max=4721.8ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4188.7ms, max=4188.7ms
+  scene_load: mean=4.17s, total=4.17s, count=1, min=4172.6ms, max=4172.6ms
+  scene_env_create: mean=2.66s, total=2.66s, count=1, min=2658.0ms, max=2658.0ms
+  scene_compile: mean=1.03s, total=1.03s, count=1, min=1029.9ms, max=1029.9ms
+  compile_mujoco: mean=706.2ms, total=706.2ms, count=1, min=706.2ms, max=706.2ms
+  task_specific_sample: mean=546.1ms, total=546.1ms, count=1, min=546.1ms, max=546.1ms
+  scene_init: mean=439.2ms, total=439.2ms, count=1, min=439.2ms, max=439.2ms
+  compile_xml_load: mean=240.6ms, total=240.6ms, count=1, min=240.6ms, max=240.6ms
+  compile_aux_objects: mean=52.0ms, total=52.0ms, count=1, min=52.0ms, max=52.0ms
+  compile_aux_policy_objects: mean=52.0ms, total=52.0ms, count=1, min=52.0ms, max=52.0ms
+  scene_asset_install: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
+  asset_install_grasps: mean=31.7ms, total=31.7ms, count=1, min=31.7ms, max=31.7ms
+  compile_robot_add: mean=20.7ms, total=20.7ms, count=1, min=20.7ms, max=20.7ms
+  asset_install_objects: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=605.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=25.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 19:58:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 19:58:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 19:58:06 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.62s (batch: 3.95s, save: 8.67s)	[pipeline.py: 300]
+05/09 19:58:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 19:58:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 19:58:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.15s (batch: 3.41s, save: 8.74s)	[pipeline.py: 300]
+05/09 19:58:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 19:58:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 19:58:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 19:58:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 19:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 19:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 19:58:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 19:58:07 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 19:58:07 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 19:58:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 19:58:07 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]
+05/09 19:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 19:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 19:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015358m	[env.py: 870]
+05/09 19:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 19:58:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 19:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 19:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.33242158  0.94559393 -0.01535816] yaw=-136.6deg	[env.py: 1019]
+05/09 19:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 19:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.11659741  0.98195974 -0.01535816] yaw=-151.7deg	[env.py: 1019]
+05/09 19:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 19:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87746944  0.16917124 -0.01535816] yaw=167.0deg	[env.py: 1019]
+05/09 19:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 19:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 19:58:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.4ms, total=130.4ms	[env.py: 1075]
+05/09 19:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.332, 0.946, -0.015)	[env.py: 1079]
+05/09 19:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.6 deg	[env.py: 1082]
+05/09 19:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.703m	[env.py: 1086]
+05/09 19:58:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 19:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 19:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 19:58:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 19:58:07 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.72s:
+  episode_total: mean=211.97s, total=211.97s, count=1, min=211970.8ms, max=211970.8ms
+  sensor_polling: mean=454.9ms, total=136.46s, count=300, min=427.2ms, max=580.3ms
+  save_trajectories: mean=8.67s, total=8.67s, count=1, min=8667.9ms, max=8667.9ms
+  physics_step: mean=22.6ms, total=6.79s, count=300, min=16.5ms, max=28.2ms
+  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3952.7ms, max=3952.7ms
+  task_sampling: mean=3.72s, total=3.72s, count=1, min=3717.3ms, max=3717.3ms
+  scene_load: mean=3.27s, total=3.27s, count=1, min=3273.6ms, max=3273.6ms
+  scene_env_create: mean=2.24s, total=2.24s, count=1, min=2242.9ms, max=2242.9ms
+  scene_compile: mean=913.4ms, total=913.4ms, count=1, min=913.4ms, max=913.4ms
+  compile_mujoco: mean=626.5ms, total=626.5ms, count=1, min=626.5ms, max=626.5ms
+  task_specific_sample: mean=441.3ms, total=441.3ms, count=1, min=441.3ms, max=441.3ms
+  compile_xml_load: mean=212.3ms, total=212.3ms, count=1, min=212.3ms, max=212.3ms
+  scene_init: mean=66.0ms, total=66.0ms, count=1, min=66.0ms, max=66.0ms
+  compile_aux_objects: mean=55.0ms, total=55.0ms, count=1, min=55.0ms, max=55.0ms
+  compile_aux_policy_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms
+  scene_asset_install: mean=51.1ms, total=51.1ms, count=1, min=51.1ms, max=51.1ms
+  asset_install_grasps: mean=32.2ms, total=32.2ms, count=1, min=32.2ms, max=32.2ms
+  asset_install_objects: mean=14.7ms, total=14.7ms, count=1, min=14.7ms, max=14.7ms
+  compile_robot_add: mean=7.3ms, total=7.3ms, count=1, min=7.3ms, max=7.3ms
+  asset_install_scene: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=378.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 19:58:07 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 19:58:07 INFO: [Worker 0] Worker 0 house 1 episode 1/60 collected=0/10	[pipeline.py: 1044]
+05/09 19:58:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/09 19:58:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 19:58:07 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 19:58:07 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 19:58:07 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.80s:
+  episode_total: mean=214.15s, total=214.15s, count=1, min=214147.8ms, max=214147.8ms
+  sensor_polling: mean=457.4ms, total=137.23s, count=300, min=431.5ms, max=582.4ms
+  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8741.0ms, max=8741.0ms
+  physics_step: mean=23.9ms, total=7.17s, count=300, min=17.9ms, max=40.8ms
+  task_sampling: mean=4.80s, total=4.80s, count=1, min=4798.4ms, max=4798.4ms
+  scene_load: mean=3.91s, total=3.91s, count=1, min=3905.6ms, max=3905.6ms
+  save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3405.2ms, max=3405.2ms
+  scene_env_create: mean=2.53s, total=2.53s, count=1, min=2532.1ms, max=2532.1ms
+  scene_compile: mean=1.25s, total=1.25s, count=1, min=1250.8ms, max=1250.8ms
+  task_specific_sample: mean=889.6ms, total=889.6ms, count=1, min=889.6ms, max=889.6ms
+  compile_mujoco: mean=692.2ms, total=692.2ms, count=1, min=692.2ms, max=692.2ms
+  compile_xml_load: mean=475.5ms, total=475.5ms, count=1, min=475.5ms, max=475.5ms
+  scene_init: mean=77.3ms, total=77.3ms, count=1, min=77.3ms, max=77.3ms
+  compile_aux_objects: mean=52.0ms, total=52.0ms, count=1, min=52.0ms, max=52.0ms
+  compile_aux_policy_objects: mean=52.0ms, total=52.0ms, count=1, min=52.0ms, max=52.0ms
+  scene_asset_install: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
+  asset_install_grasps: mean=31.9ms, total=31.9ms, count=1, min=31.9ms, max=31.9ms
+  compile_robot_add: mean=20.7ms, total=20.7ms, count=1, min=20.7ms, max=20.7ms
+  asset_install_objects: mean=10.7ms, total=10.7ms, count=1, min=10.7ms, max=10.7ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=449.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=32.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 19:58:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.420s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 19:58:08 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.411[m] 84.132[deg]	[grasp_sample.py: 539]
+05/09 19:58:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 19:58:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 19:58:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:58:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 19:58:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 19:58:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 19:58:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 19:58:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 19:58:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 19:58:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 19:58:09 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 19:58:09 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 19:58:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 19:58:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030268m	[env.py: 870]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 19:58:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01245634  0.41638047  0.03026788] yaw=171.3deg	[env.py: 1019]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07121354  0.5440981   0.03026788] yaw=-168.4deg	[env.py: 1019]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92745299  0.35417624  0.03026788] yaw=178.0deg	[env.py: 1019]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 19:58:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.6ms, total=129.7ms	[env.py: 1075]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.012, 0.416, 0.030)	[env.py: 1079]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.3 deg	[env.py: 1082]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m	[env.py: 1086]
+05/09 19:58:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 19:58:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 19:58:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 19:58:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 19:58:09 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 19:58:09 INFO: [Worker 0] Worker 0 house 1 episode 1/60 collected=0/10	[pipeline.py: 1044]
+05/09 19:58:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/09 19:58:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 19:58:09 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 19:58:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 19:58:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 19:58:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 19:58:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 19:58:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 19:58:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 19:58:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 19:58:09 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 19:58:09 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 19:58:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 19:58:09 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]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012978m	[env.py: 870]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 19:58:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04087255  0.32508458 -0.01297827] yaw=163.3deg	[env.py: 1019]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 19:58:09 INFO: [Worker 0] Collision-checked 388 grasps in 0.093s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.09299169  0.55361063 -0.01297827] yaw=-165.6deg	[env.py: 1019]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11095637  0.22589818 -0.01297827] yaw=174.5deg	[env.py: 1019]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 19:58:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.8ms, total=114.8ms	[env.py: 1075]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.041, 0.325, -0.013)	[env.py: 1079]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.3 deg	[env.py: 1082]
+05/09 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.770m	[env.py: 1086]
+05/09 19:58:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 19:58:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 19:58:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 19:58:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 19:58:09 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 19:58:09 INFO: [Worker 0] Worker 0 house 1 episode 1/60 collected=0/10	[pipeline.py: 1044]
+05/09 19:58:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/09 19:58:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 19:58:09 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 19:58:10 INFO: [Worker 0] Collision-checked 388 grasps in 0.089s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 19:58:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.505s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 19:58:10 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.419[m] 86.300[deg]	[grasp_sample.py: 539]
+05/09 19:58:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 19:58:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.454s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 19:58:10 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.426[m] 90.694[deg]	[grasp_sample.py: 539]
+05/09 19:58:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 19:58:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 19:58:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:58:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 19:58:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:58:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:58:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:58:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:58:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:58:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 19:58:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:58:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 19:59:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 19:59:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 19:59:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:59:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 19:59:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:00:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:00:25 INFO: [Worker 0] Worker 0 house 1 episode 1 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:00:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:00:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:00:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:00:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:00:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:00:34 INFO: [Worker 0] Worker 0 house 1 episode 1 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:00:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:00:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:00:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 20:00:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 20:00:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:00:36 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:00:36 INFO: [Worker 0] Collision-checked 388 grasps in 0.077s, found 324 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:00:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.594s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:00:38 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.085[m] 0.355[deg]	[grasp_sample.py: 539]
+05/09 20:00:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:00:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:00:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:00:38 INFO: [Worker 0] Worker 0 house 1 episode 1 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:00:46 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:00:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 20:00:46 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
+05/09 20:00:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:00:58 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:00:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 20:00:58 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/09 20:00:58 INFO: [Worker 0] Worker 0 house 1 episode 1 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:01:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:01:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:01:01 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.12s (batch: 5.27s, save: 9.85s)	[pipeline.py: 300]
+05/09 20:01:01 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.56s:
+  episode_total: mean=181.91s, total=181.91s, count=1, min=181906.3ms, max=181906.3ms
+  sensor_polling: mean=473.1ms, total=134.82s, count=285, min=407.9ms, max=914.3ms
+  save_trajectories: mean=9.85s, total=9.85s, count=1, min=9846.8ms, max=9846.8ms
+  physics_step: mean=23.6ms, total=6.73s, count=285, min=15.1ms, max=71.2ms
+  save_batch_prep: mean=5.27s, total=5.27s, count=1, min=5273.6ms, max=5273.6ms
+  task_sampling: mean=562.4ms, total=562.4ms, count=1, min=562.4ms, max=562.4ms
+  task_specific_sample: mean=558.5ms, total=558.5ms, count=1, min=558.5ms, max=558.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=392.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:01:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:01:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:01:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:01:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:01:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:01:03 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:01:03 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:01:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:01:03 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]
+05/09 20:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026827m	[env.py: 870]
+05/09 20:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:01:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:01:03 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:01:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 20:01:03 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/09 20:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09418473  0.62319812  0.02682652] yaw=-171.2deg	[env.py: 1019]
+05/09 20:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.19493898  0.81709653  0.02682652] yaw=-155.7deg	[env.py: 1019]
+05/09 20:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92690991  0.00262962  0.02682652] yaw=156.3deg	[env.py: 1019]
+05/09 20:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:01:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.9ms, total=107.9ms	[env.py: 1075]
+05/09 20:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.094, 0.623, 0.027)	[env.py: 1079]
+05/09 20:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.2 deg	[env.py: 1082]
+05/09 20:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.737m	[env.py: 1086]
+05/09 20:01:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:01:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:01:03 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 20:01:03 INFO: [Worker 0] Worker 0 house 1 episode 2/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:01:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:01:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:01:03 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:01:03 INFO: [Worker 0] Collision-checked 388 grasps in 0.056s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:01:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.375s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:01:04 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.385[m] 92.571[deg]	[grasp_sample.py: 539]
+05/09 20:01:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:01:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:01:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:01:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:01:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:01:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.38s (batch: 3.78s, save: 7.59s)	[pipeline.py: 300]
+05/09 20:01:10 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.39s:
+  episode_total: mean=181.32s, total=181.32s, count=1, min=181321.5ms, max=181321.5ms
+  sensor_polling: mean=480.5ms, total=134.07s, count=279, min=417.9ms, max=788.1ms
+  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7593.0ms, max=7593.0ms
+  physics_step: mean=25.0ms, total=6.98s, count=279, min=16.3ms, max=90.9ms
+  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3782.2ms, max=3782.2ms
+  task_sampling: mean=394.3ms, total=394.3ms, count=1, min=394.3ms, max=394.3ms
+  task_specific_sample: mean=390.6ms, total=390.6ms, count=1, min=390.6ms, max=390.6ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=382.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.7us, 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]
+05/09 20:01:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:01:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:01:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:01:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:01:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:01:11 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:01:11 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:01:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:01:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048487m	[env.py: 870]
+05/09 20:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:01:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95052449  0.74463063  0.04848691] yaw=-168.5deg	[env.py: 1019]
+05/09 20:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.19066877  0.9041654   0.04848691] yaw=-130.7deg	[env.py: 1019]
+05/09 20:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.13819106  0.14449965  0.04848691] yaw=162.2deg	[env.py: 1019]
+05/09 20:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:01:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.1ms, total=137.2ms	[env.py: 1075]
+05/09 20:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.951, 0.745, 0.048)	[env.py: 1079]
+05/09 20:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.5 deg	[env.py: 1082]
+05/09 20:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/09 20:01:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:01:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:01:12 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 20:01:12 INFO: [Worker 0] Worker 0 house 1 episode 2/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:01:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:01:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:01:12 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:01:12 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:01:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.450s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:01:12 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.534[m] 91.102[deg]	[grasp_sample.py: 539]
+05/09 20:01:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:01:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:01:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:01:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:01:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:01:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.08s (batch: 4.05s, save: 8.04s)	[pipeline.py: 300]
+05/09 20:01:16 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.37s:
+  episode_total: mean=186.63s, total=186.63s, count=1, min=186627.9ms, max=186627.9ms
+  sensor_polling: mean=481.0ms, total=135.64s, count=282, min=420.6ms, max=932.3ms
+  save_trajectories: mean=8.04s, total=8.04s, count=1, min=8035.3ms, max=8035.3ms
+  physics_step: mean=25.0ms, total=7.04s, count=282, min=16.4ms, max=86.2ms
+  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4049.2ms, max=4049.2ms
+  task_sampling: mean=372.3ms, total=372.3ms, count=1, min=372.3ms, max=372.3ms
+  task_specific_sample: mean=368.4ms, total=368.4ms, count=1, min=368.4ms, max=368.4ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=438.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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]
+05/09 20:01:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:01:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:01:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:01:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:01:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:01:17 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:01:17 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:01:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:01:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012299m	[env.py: 870]
+05/09 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:01:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.21334013  1.07362788  0.01229868] yaw=-124.4deg	[env.py: 1019]
+05/09 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.10553463  0.91607778  0.01229868] yaw=-143.9deg	[env.py: 1019]
+05/09 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90813709  0.70243947  0.01229868] yaw=-166.5deg	[env.py: 1019]
+05/09 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:01:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=83.1ms, total=83.1ms	[env.py: 1075]
+05/09 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.213, 1.074, 0.012)	[env.py: 1079]
+05/09 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.4 deg	[env.py: 1082]
+05/09 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m	[env.py: 1086]
+05/09 20:01:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:01:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:01:18 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 20:01:18 INFO: [Worker 0] Worker 0 house 1 episode 2/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:01:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:01:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:01:18 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:01:18 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:01:18 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 20:01:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:01:18 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:01:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.477s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:01:18 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.495[m] 87.365[deg]	[grasp_sample.py: 539]
+05/09 20:01:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:01:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:01:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:01:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:01:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:01:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.86s (batch: 4.45s, save: 11.40s)	[pipeline.py: 300]
+05/09 20:01:34 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.41s:
+  episode_total: mean=207.62s, total=207.62s, count=1, min=207622.6ms, max=207622.6ms
+  sensor_polling: mean=493.2ms, total=147.97s, count=300, min=407.9ms, max=906.1ms
+  save_trajectories: mean=11.40s, total=11.40s, count=1, min=11404.7ms, max=11404.7ms
+  physics_step: mean=25.0ms, total=7.49s, count=300, min=16.3ms, max=104.9ms
+  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4454.6ms, max=4454.6ms
+  task_sampling: mean=412.9ms, total=412.9ms, count=1, min=412.9ms, max=412.9ms
+  task_specific_sample: mean=409.2ms, total=409.2ms, count=1, min=409.2ms, max=409.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=387.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.3us, 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]
+05/09 20:01:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:01:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:01:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:01:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:01:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:01:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:01:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:01:36 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:01:36 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:01:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:01:36 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]
+05/09 20:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043188m	[env.py: 870]
+05/09 20:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:01:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08955857  0.89815996  0.04318805] yaw=-150.7deg	[env.py: 1019]
+05/09 20:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.12033445  1.11273824  0.04318805] yaw=-132.8deg	[env.py: 1019]
+05/09 20:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.23392685  0.995285    0.04318805] yaw=-131.0deg	[env.py: 1019]
+05/09 20:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:01:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.3ms, total=155.4ms	[env.py: 1075]
+05/09 20:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.090, 0.898, 0.043)	[env.py: 1079]
+05/09 20:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.7 deg	[env.py: 1082]
+05/09 20:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m	[env.py: 1086]
+05/09 20:01:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:01:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:01:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:01:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:01:36 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 20:01:36 INFO: [Worker 0] Worker 0 house 1 episode 2/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:01:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:01:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:01:36 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:01:36 INFO: [Worker 0] Collision-checked 388 grasps in 0.056s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:01:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.468s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:01:37 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.427[m] 77.732[deg]	[grasp_sample.py: 539]
+05/09 20:01:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:01:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:01:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:01:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:01:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:01:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:02:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:02:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:02:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:02:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:02:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:02:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:02:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:02:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:02:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:03:14 INFO: [Worker 0] Worker 0 house 1 episode 2 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:03:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:03:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:03:37 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:03:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 20:03:37 INFO: [Worker 0] Preparing episode data: 275 timesteps	[save_utils.py: 278]
+05/09 20:03:37 INFO: [Worker 0] Worker 0 house 1 episode 2 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:03:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:03:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:03:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:03:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:03:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:03:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:03:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 20:03:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 20:03:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:03:45 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:03:45 INFO: [Worker 0] Collision-checked 388 grasps in 0.072s, found 320 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:03:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.424s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:03:47 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.054[m] 4.495[deg]	[grasp_sample.py: 539]
+05/09 20:03:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:03:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:03:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:03:48 INFO: [Worker 0] Worker 0 house 1 episode 2 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:03:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:03:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:03:48 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.37s (batch: 3.61s, save: 7.76s)	[pipeline.py: 300]
+05/09 20:03:49 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.33s:
+  episode_total: mean=165.84s, total=165.84s, count=1, min=165839.8ms, max=165839.8ms
+  sensor_polling: mean=442.7ms, total=121.31s, count=274, min=373.8ms, max=785.7ms
+  save_trajectories: mean=7.76s, total=7.76s, count=1, min=7762.9ms, max=7762.9ms
+  physics_step: mean=21.4ms, total=5.87s, count=274, min=13.7ms, max=32.4ms
+  save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3610.4ms, max=3610.4ms
+  task_sampling: mean=334.6ms, total=334.6ms, count=1, min=334.6ms, max=334.6ms
+  task_specific_sample: mean=331.4ms, total=331.4ms, count=1, min=331.4ms, max=331.4ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=379.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.6us, 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]
+05/09 20:03:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:03:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:03:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:03:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:03:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:03:50 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:03:50 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:03:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:03:50 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]
+05/09 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038621m	[env.py: 870]
+05/09 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:03:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05853482  0.07662595  0.03862145] yaw=149.8deg	[env.py: 1019]
+05/09 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.18688802  0.83078791  0.03862145] yaw=-157.4deg	[env.py: 1019]
+05/09 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:03:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=140.1ms, total=140.1ms	[env.py: 1075]
+05/09 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.059, 0.077, 0.039)	[env.py: 1079]
+05/09 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.8 deg	[env.py: 1082]
+05/09 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
+05/09 20:03:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:03:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:03:51 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 20:03:51 INFO: [Worker 0] Worker 0 house 1 episode 3/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:03:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:03:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:03:51 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:03:51 INFO: [Worker 0] Collision-checked 388 grasps in 0.083s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:03:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.450s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:03:51 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.461[m] 90.163[deg]	[grasp_sample.py: 539]
+05/09 20:03:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:03:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:03:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:03:53 INFO: [Worker 0] Worker 0 house 1 episode 2 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:04:01 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:04:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 20:04:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:04:11 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:04:11 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 20:04:11 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
+05/09 20:04:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:04:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:04:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.34s (batch: 4.46s, save: 8.88s)	[pipeline.py: 300]
+05/09 20:04:15 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.43s:
+  episode_total: mean=183.38s, total=183.38s, count=1, min=183376.2ms, max=183376.2ms
+  sensor_polling: mean=450.2ms, total=135.07s, count=300, min=378.1ms, max=683.3ms
+  save_trajectories: mean=8.88s, total=8.88s, count=1, min=8882.9ms, max=8882.9ms
+  physics_step: mean=22.2ms, total=6.65s, count=300, min=13.6ms, max=56.9ms
+  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4459.9ms, max=4459.9ms
+  task_sampling: mean=433.0ms, total=433.0ms, count=1, min=433.0ms, max=433.0ms
+  task_specific_sample: mean=428.8ms, total=428.8ms, count=1, min=428.8ms, max=428.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=516.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.9us, 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]
+05/09 20:04:16 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:04:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 20:04:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:04:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:04:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:04:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:04:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:04:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:04:16 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:04:16 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:04:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:04:16 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]
+05/09 20:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028140m	[env.py: 870]
+05/09 20:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:04:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1111322   0.30919625 -0.02814028] yaw=169.5deg	[env.py: 1019]
+05/09 20:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09980937  1.12303359 -0.02814028] yaw=-133.7deg	[env.py: 1019]
+05/09 20:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.84190364  0.60830071 -0.02814028] yaw=-170.5deg	[env.py: 1019]
+05/09 20:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:04:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.3ms, total=143.4ms	[env.py: 1075]
+05/09 20:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.111, 0.309, -0.028)	[env.py: 1079]
+05/09 20:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.5 deg	[env.py: 1082]
+05/09 20:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.703m	[env.py: 1086]
+05/09 20:04:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:04:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:04:17 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 20:04:17 INFO: [Worker 0] Worker 0 house 1 episode 3/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:04:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:04:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:04:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:04:17 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:04:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.408s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:04:17 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.432[m] 95.981[deg]	[grasp_sample.py: 539]
+05/09 20:04:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:04:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:04:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:04:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:04:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:04:23 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.77s (batch: 3.78s, save: 7.98s)	[pipeline.py: 300]
+05/09 20:04:23 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.44s:
+  episode_total: mean=167.59s, total=167.59s, count=1, min=167588.2ms, max=167588.2ms
+  sensor_polling: mean=436.3ms, total=122.16s, count=280, min=366.3ms, max=625.2ms
+  save_trajectories: mean=7.98s, total=7.98s, count=1, min=7983.3ms, max=7983.3ms
+  physics_step: mean=21.1ms, total=5.92s, count=280, min=13.8ms, max=54.0ms
+  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3784.0ms, max=3784.0ms
+  task_sampling: mean=439.5ms, total=439.5ms, count=1, min=439.5ms, max=439.5ms
+  task_specific_sample: mean=436.1ms, total=436.1ms, count=1, min=436.1ms, max=436.1ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=362.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.1us, 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]
+05/09 20:04:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:04:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:04:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:04:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:04:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:04:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:04:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:04:25 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:04:25 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:04:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:04:25 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]
+05/09 20:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031210m	[env.py: 870]
+05/09 20:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:04:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95228232  0.53131907 -0.03120952] yaw=-165.4deg	[env.py: 1019]
+05/09 20:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14015101  0.16674523 -0.03120952] yaw=148.6deg	[env.py: 1019]
+05/09 20:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.05541244  0.76087213 -0.03120952] yaw=-164.7deg	[env.py: 1019]
+05/09 20:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:04:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.8ms, total=95.9ms	[env.py: 1075]
+05/09 20:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.952, 0.531, -0.031)	[env.py: 1079]
+05/09 20:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.4 deg	[env.py: 1082]
+05/09 20:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/09 20:04:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:04:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:04:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:04:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:04:25 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 20:04:25 INFO: [Worker 0] Worker 0 house 1 episode 3/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:04:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:04:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:04:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:04:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.066s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:04:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.437s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:04:26 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.531[m] 95.677[deg]	[grasp_sample.py: 539]
+05/09 20:04:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:04:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:04:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:04:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:04:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:04:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.83s (batch: 4.01s, save: 9.82s)	[pipeline.py: 300]
+05/09 20:04:31 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.34s:
+  episode_total: mean=193.76s, total=193.76s, count=1, min=193763.6ms, max=193763.6ms
+  sensor_polling: mean=448.1ms, total=134.43s, count=300, min=379.9ms, max=694.4ms
+  save_trajectories: mean=9.82s, total=9.82s, count=1, min=9820.7ms, max=9820.7ms
+  physics_step: mean=22.2ms, total=6.66s, count=300, min=15.6ms, max=56.2ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4010.6ms, max=4010.6ms
+  task_sampling: mean=341.7ms, total=341.7ms, count=1, min=341.7ms, max=341.7ms
+  task_specific_sample: mean=338.1ms, total=338.1ms, count=1, min=338.1ms, max=338.1ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=383.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:04:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:04:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:04:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:04:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:04:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:04:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:04:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:04:33 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:04:33 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:04:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:04:33 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]
+05/09 20:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004320m	[env.py: 870]
+05/09 20:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:04:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06070832  0.43111549  0.00432034] yaw=-188.2deg	[env.py: 1019]
+05/09 20:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86055062  0.47097979  0.00432034] yaw=-166.4deg	[env.py: 1019]
+05/09 20:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03792783  0.83383986  0.00432034] yaw=-159.0deg	[env.py: 1019]
+05/09 20:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:04:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=313.9ms, total=313.9ms	[env.py: 1075]
+05/09 20:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.061, 0.431, 0.004)	[env.py: 1079]
+05/09 20:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.2 deg	[env.py: 1082]
+05/09 20:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.744m	[env.py: 1086]
+05/09 20:04:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:04:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:04:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:04:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:04:34 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 20:04:34 INFO: [Worker 0] Worker 0 house 1 episode 3/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:04:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.188s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:04:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:04:34 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:04:34 INFO: [Worker 0] Collision-checked 388 grasps in 0.169s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:04:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.821s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:04:35 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.404[m] 89.746[deg]	[grasp_sample.py: 539]
+05/09 20:04:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:04:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:04:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:04:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:04:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:04:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:05:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:05:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:05:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:05:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:05:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:05:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:05:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:05:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:05:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:06:09 INFO: [Worker 0] Worker 0 house 1 episode 3 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:06:27 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:06:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 20:06:27 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
+05/09 20:06:31 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]
+05/09 20:06:32 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.43s:
+  episode_total: mean=161.23s, total=161.23s, count=1, min=161227.3ms, max=161227.3ms
+  sensor_polling: mean=445.7ms, total=128.38s, count=288, min=383.3ms, max=709.8ms
+  physics_step: mean=21.2ms, total=6.10s, count=288, min=16.8ms, max=75.5ms
+  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3926.5ms, max=3926.5ms
+  task_sampling: mean=428.7ms, total=428.7ms, count=1, min=428.7ms, max=428.7ms
+  task_specific_sample: mean=424.4ms, total=424.4ms, count=1, min=424.4ms, max=424.4ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=524.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=28.0us, 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]
+05/09 20:06:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:06:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:06:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:06:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:06:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:06:33 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:06:33 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:06:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:06:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022454m	[env.py: 870]
+05/09 20:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:06:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09397515  0.811216    0.02245383] yaw=-154.2deg	[env.py: 1019]
+05/09 20:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.1325585   0.99663494  0.02245383] yaw=-131.7deg	[env.py: 1019]
+05/09 20:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:06:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.9ms, total=211.9ms	[env.py: 1075]
+05/09 20:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.094, 0.811, 0.022)	[env.py: 1079]
+05/09 20:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg	[env.py: 1082]
+05/09 20:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
+05/09 20:06:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:06:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:06:34 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 20:06:34 INFO: [Worker 0] Worker 0 house 1 episode 4/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:06:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:06:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:06:34 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:06:34 INFO: [Worker 0] Collision-checked 388 grasps in 0.056s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:06:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.372s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:06:34 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.465[m] 86.282[deg]	[grasp_sample.py: 539]
+05/09 20:06:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:06:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:06:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:06:36 INFO: [Worker 0] Worker 0 house 1 episode 3 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:06:43 INFO: [Worker 0] Worker 0 house 1 episode 3 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:06:43 INFO: [Worker 0] Worker 0 house 1 episode 3 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:06:54 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:06:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 20:06:54 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/09 20:06:58 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]
+05/09 20:06:58 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.39s:
+  episode_total: mean=162.07s, total=162.07s, count=1, min=162068.9ms, max=162068.9ms
+  sensor_polling: mean=434.5ms, total=124.25s, count=286, min=394.4ms, max=762.3ms
+  physics_step: mean=22.6ms, total=6.46s, count=286, min=13.6ms, max=45.1ms
+  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3702.4ms, max=3702.4ms
+  task_sampling: mean=394.4ms, total=394.4ms, count=1, min=394.4ms, max=394.4ms
+  task_specific_sample: mean=390.5ms, total=390.5ms, count=1, min=390.5ms, max=390.5ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=435.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.5us, 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]
+05/09 20:07:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:07:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:07:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:07:00 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:07:00 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:07:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:07:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.030m, effective arm-mount z=0.830m (base_body_z=-0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030221m	[env.py: 870]
+05/09 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:07:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01101434  0.81292966 -0.03022096] yaw=-159.4deg	[env.py: 1019]
+05/09 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85295722  0.41474082 -0.03022096] yaw=176.5deg	[env.py: 1019]
+05/09 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:07:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.5ms, total=206.5ms	[env.py: 1075]
+05/09 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.011, 0.813, -0.030)	[env.py: 1079]
+05/09 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.4 deg	[env.py: 1082]
+05/09 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/09 20:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:07:00 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 20:07:00 INFO: [Worker 0] Worker 0 house 1 episode 4/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:07:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:07:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:07:00 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:07:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:07:01 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:07:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 20:07:01 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/09 20:07:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.434s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:07:01 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.549[m] 93.839[deg]	[grasp_sample.py: 539]
+05/09 20:07:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:07:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:07:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:07:02 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:07:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 20:07:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:07:04 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]
+05/09 20:07:04 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.59s:
+  episode_total: mean=151.42s, total=151.42s, count=1, min=151424.7ms, max=151424.7ms
+  sensor_polling: mean=426.3ms, total=118.50s, count=278, min=389.2ms, max=663.6ms
+  physics_step: mean=21.0ms, total=5.85s, count=278, min=16.5ms, max=29.8ms
+  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3722.4ms, max=3722.4ms
+  task_sampling: mean=589.7ms, total=589.7ms, count=1, min=589.7ms, max=589.7ms
+  task_specific_sample: mean=585.8ms, total=585.8ms, count=1, min=585.8ms, max=585.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=444.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.8us, 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]
+05/09 20:07:06 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]
+05/09 20:07:06 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.34s:
+  episode_total: mean=160.93s, total=160.93s, count=1, min=160930.4ms, max=160930.4ms
+  sensor_polling: mean=427.0ms, total=128.11s, count=300, min=386.0ms, max=617.4ms
+  physics_step: mean=22.3ms, total=6.69s, count=300, min=15.8ms, max=43.3ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3738.7ms, max=3738.7ms
+  task_sampling: mean=337.9ms, total=337.9ms, count=1, min=337.9ms, max=337.9ms
+  task_specific_sample: mean=334.4ms, total=334.4ms, count=1, min=334.4ms, max=334.4ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=371.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:07:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:07:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:07:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:07:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:07:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:07:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:07:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:07:06 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:07:06 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:07:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:07:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008407m	[env.py: 870]
+05/09 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:07:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.20698478  1.08966196  0.008407  ] yaw=-135.7deg	[env.py: 1019]
+05/09 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01066326  0.15658868  0.008407  ] yaw=165.4deg	[env.py: 1019]
+05/09 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.06008595  0.83739336  0.008407  ] yaw=-152.5deg	[env.py: 1019]
+05/09 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:07:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.2ms, total=106.2ms	[env.py: 1075]
+05/09 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.207, 1.090, 0.008)	[env.py: 1079]
+05/09 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.7 deg	[env.py: 1082]
+05/09 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
+05/09 20:07:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:07:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:07:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:07:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:07:06 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 20:07:06 INFO: [Worker 0] Worker 0 house 1 episode 4/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:07:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:07:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:07:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:07:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:07:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.430s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:07:07 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.537[m] 84.540[deg]	[grasp_sample.py: 539]
+05/09 20:07:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:07:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:07:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:07:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:07:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:07:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:07:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:07:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:07:07 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:07:07 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:07:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:07:07 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]
+05/09 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043870m	[env.py: 870]
+05/09 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:07:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9027903   0.00229546 -0.04386999] yaw=154.4deg	[env.py: 1019]
+05/09 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02845765  0.24861273 -0.04386999] yaw=169.0deg	[env.py: 1019]
+05/09 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.18185146  0.90627294 -0.04386999] yaw=-145.2deg	[env.py: 1019]
+05/09 20:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:07:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.5ms, total=93.5ms	[env.py: 1075]
+05/09 20:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.903, 0.002, -0.044)	[env.py: 1079]
+05/09 20:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.4 deg	[env.py: 1082]
+05/09 20:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/09 20:07:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:07:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:07:08 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 20:07:08 INFO: [Worker 0] Worker 0 house 1 episode 4/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:07:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:07:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:07:08 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:07:08 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:07:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.385s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:07:09 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.682[m] 90.839[deg]	[grasp_sample.py: 539]
+05/09 20:07:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:07:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:07:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:07:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:07:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:07:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:07:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:07:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:07:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:08:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:08:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:08:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:08:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:08:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:08:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:08:49 INFO: [Worker 0] Worker 0 house 1 episode 4 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:09:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:09:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:09:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:09:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:09:08 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:09:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 20:09:08 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
+05/09 20:09:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:09:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:09:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:09:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:09:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 20:09:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 20:09:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:09:16 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:09:16 INFO: [Worker 0] Collision-checked 388 grasps in 0.088s, found 324 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:09:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.179s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:09:19 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.085[m] 0.473[deg]	[grasp_sample.py: 539]
+05/09 20:09:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:09:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:09:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:09:23 INFO: [Worker 0] Worker 0 house 1 episode 4 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:09:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:09:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:09:23 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.45s (batch: 4.51s, save: 10.95s)	[pipeline.py: 300]
+05/09 20:09:24 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.51s:
+  episode_total: mean=171.03s, total=171.03s, count=1, min=171032.6ms, max=171032.6ms
+  sensor_polling: mean=433.2ms, total=126.06s, count=291, min=378.2ms, max=642.8ms
+  save_trajectories: mean=10.95s, total=10.95s, count=1, min=10948.6ms, max=10948.6ms
+  physics_step: mean=20.8ms, total=6.06s, count=291, min=14.0ms, max=61.4ms
+  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4505.7ms, max=4505.7ms
+  task_sampling: mean=510.6ms, total=510.6ms, count=1, min=510.6ms, max=510.6ms
+  task_specific_sample: mean=507.1ms, total=507.1ms, count=1, min=507.1ms, max=507.1ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=378.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.6us, 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]
+05/09 20:09:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:09:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:09:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:09:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:09:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:09:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:09:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:09:26 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:09:26 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:09:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:09:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014471m	[env.py: 870]
+05/09 20:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:09:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00945993  0.61656092 -0.01447146] yaw=-158.4deg	[env.py: 1019]
+05/09 20:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9258329   0.38030743 -0.01447146] yaw=167.8deg	[env.py: 1019]
+05/09 20:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.24856701  1.02581891 -0.01447146] yaw=-126.3deg	[env.py: 1019]
+05/09 20:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:09:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=233.3ms, total=233.4ms	[env.py: 1075]
+05/09 20:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.009, 0.617, -0.014)	[env.py: 1079]
+05/09 20:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg	[env.py: 1082]
+05/09 20:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/09 20:09:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:09:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:09:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:09:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:09:26 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 20:09:26 INFO: [Worker 0] Worker 0 house 1 episode 5/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:09:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:09:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:09:26 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:09:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.081s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:09:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.435s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:09:27 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.472[m] 89.142[deg]	[grasp_sample.py: 539]
+05/09 20:09:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:09:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:09:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:09:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:09:33 INFO: [Worker 0] Worker 0 house 1 episode 4 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:09:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:09:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:09:42 INFO: [Worker 0] Worker 0 house 1 episode 4 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:09:44 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:09:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 20:09:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:09:57 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:09:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 20:09:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:09:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:09:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:09:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.20s (batch: 4.50s, save: 9.71s)	[pipeline.py: 300]
+05/09 20:09:59 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s:
+  episode_total: mean=178.67s, total=178.67s, count=1, min=178674.8ms, max=178674.8ms
+  sensor_polling: mean=442.0ms, total=132.61s, count=300, min=384.6ms, max=675.4ms
+  save_trajectories: mean=9.71s, total=9.71s, count=1, min=9707.1ms, max=9707.1ms
+  physics_step: mean=20.9ms, total=6.27s, count=300, min=13.8ms, max=49.1ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4495.9ms, max=4495.9ms
+  task_sampling: mean=487.6ms, total=487.6ms, count=1, min=487.6ms, max=487.6ms
+  task_specific_sample: mean=484.2ms, total=484.2ms, count=1, min=484.2ms, max=484.2ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=382.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=29.9us, 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]
+05/09 20:10:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:10:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:10:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:10:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:10:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:10:00 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:10:00 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:10:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:10:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028887m	[env.py: 870]
+05/09 20:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:10:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00765091  0.47125555  0.02888734] yaw=-181.9deg	[env.py: 1019]
+05/09 20:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8597161   0.50254003  0.02888734] yaw=-178.6deg	[env.py: 1019]
+05/09 20:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00363926  0.64987791  0.02888734] yaw=-158.1deg	[env.py: 1019]
+05/09 20:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:10:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.3ms, total=130.3ms	[env.py: 1075]
+05/09 20:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.008, 0.471, 0.029)	[env.py: 1079]
+05/09 20:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.9 deg	[env.py: 1082]
+05/09 20:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.798m	[env.py: 1086]
+05/09 20:10:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:10:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:10:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 20:10:00 INFO: [Worker 0] Worker 0 house 1 episode 5/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:10:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:10:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:10:01 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:10:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:10:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.430s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:10:01 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.437[m] 89.450[deg]	[grasp_sample.py: 539]
+05/09 20:10:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:10:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:10:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:10:06 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:10:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 20:10:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:10:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:10:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:10:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.13s (batch: 3.88s, save: 8.25s)	[pipeline.py: 300]
+05/09 20:10:10 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.37s:
+  episode_total: mean=182.17s, total=182.17s, count=1, min=182170.1ms, max=182170.1ms
+  sensor_polling: mean=448.6ms, total=134.59s, count=300, min=385.6ms, max=943.4ms
+  save_trajectories: mean=8.25s, total=8.25s, count=1, min=8247.0ms, max=8247.0ms
+  physics_step: mean=20.9ms, total=6.27s, count=300, min=14.0ms, max=54.6ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3878.6ms, max=3878.6ms
+  task_sampling: mean=370.0ms, total=370.0ms, count=1, min=370.0ms, max=370.0ms
+  task_specific_sample: mean=366.8ms, total=366.8ms, count=1, min=366.8ms, max=366.8ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=372.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.4us, 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]
+05/09 20:10:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:10:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:10:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:10:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:10:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:10:11 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:10:11 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:10:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:10:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.033m, effective arm-mount z=0.827m (base_body_z=-0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032501m	[env.py: 870]
+05/09 20:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:10:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06132119  0.5533764  -0.03250119] yaw=-160.3deg	[env.py: 1019]
+05/09 20:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99681938  0.60885502 -0.03250119] yaw=-174.6deg	[env.py: 1019]
+05/09 20:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.10847861  0.88686749 -0.03250119] yaw=-143.7deg	[env.py: 1019]
+05/09 20:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:10:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.7ms, total=182.8ms	[env.py: 1075]
+05/09 20:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.061, 0.553, -0.033)	[env.py: 1079]
+05/09 20:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.3 deg	[env.py: 1082]
+05/09 20:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.754m	[env.py: 1086]
+05/09 20:10:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:10:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:10:12 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 20:10:12 INFO: [Worker 0] Worker 0 house 1 episode 5/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:10:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:10:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:10:12 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:10:12 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:10:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:10:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.387s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:10:12 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.427[m] 88.451[deg]	[grasp_sample.py: 539]
+05/09 20:10:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:10:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:10:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:10:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:10:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:10:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.27s (batch: 3.92s, save: 9.34s)	[pipeline.py: 300]
+05/09 20:10:20 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.36s:
+  episode_total: mean=194.14s, total=194.14s, count=1, min=194138.5ms, max=194138.5ms
+  sensor_polling: mean=436.8ms, total=131.05s, count=300, min=384.8ms, max=687.3ms
+  save_trajectories: mean=9.34s, total=9.34s, count=1, min=9344.2ms, max=9344.2ms
+  physics_step: mean=21.8ms, total=6.54s, count=300, min=14.1ms, max=61.9ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3924.9ms, max=3924.9ms
+  task_sampling: mean=361.0ms, total=361.0ms, count=1, min=361.0ms, max=361.0ms
+  task_specific_sample: mean=357.5ms, total=357.5ms, count=1, min=357.5ms, max=357.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=368.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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]
+05/09 20:10:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:10:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:10:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:10:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:10:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:10:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:10:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:10:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:10:22 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:10:22 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:10:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:10:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034179m	[env.py: 870]
+05/09 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:10:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85381407  0.2522254  -0.03417949] yaw=162.1deg	[env.py: 1019]
+05/09 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.10348572  0.20407117 -0.03417949] yaw=165.8deg	[env.py: 1019]
+05/09 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.09474073  0.32435633 -0.03417949] yaw=176.7deg	[env.py: 1019]
+05/09 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:10:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=135.8ms, total=135.8ms	[env.py: 1075]
+05/09 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.854, 0.252, -0.034)	[env.py: 1079]
+05/09 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.1 deg	[env.py: 1082]
+05/09 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m	[env.py: 1086]
+05/09 20:10:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:10:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:10:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:10:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:10:22 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 20:10:22 INFO: [Worker 0] Worker 0 house 1 episode 5/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:10:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:10:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:10:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:10:22 INFO: [Worker 0] Collision-checked 388 grasps in 0.087s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:10:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.298s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:10:24 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.577[m] 80.764[deg]	[grasp_sample.py: 539]
+05/09 20:10:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:10:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:10:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:10:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:10:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:10:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:10:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:10:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:11:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:11:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:11:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:11:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:11:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:11:47 INFO: [Worker 0] Worker 0 house 1 episode 5 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:12:08 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:12:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 20:12:08 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/09 20:12:18 INFO: [Worker 0] Worker 0 house 1 episode 5 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:12:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:12:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:12:23 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.61s (batch: 4.14s, save: 10.47s)	[pipeline.py: 300]
+05/09 20:12:23 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.51s:
+  episode_total: mean=177.63s, total=177.63s, count=1, min=177631.5ms, max=177631.5ms
+  sensor_polling: mean=445.8ms, total=130.17s, count=292, min=382.8ms, max=773.0ms
+  save_trajectories: mean=10.47s, total=10.47s, count=1, min=10472.1ms, max=10472.1ms
+  physics_step: mean=22.8ms, total=6.65s, count=292, min=13.6ms, max=98.6ms
+  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4141.4ms, max=4141.4ms
+  task_sampling: mean=513.8ms, total=513.8ms, count=1, min=513.8ms, max=513.8ms
+  task_specific_sample: mean=510.5ms, total=510.5ms, count=1, min=510.5ms, max=510.5ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=365.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.7us, 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]
+05/09 20:12:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:12:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:12:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:12:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:12:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:12:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:12:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:12:25 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:12:25 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:12:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:12:25 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]
+05/09 20:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006350m	[env.py: 870]
+05/09 20:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:12:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02048724  0.30746078  0.0063501 ] yaw=163.0deg	[env.py: 1019]
+05/09 20:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09905234  0.64640072  0.0063501 ] yaw=-166.9deg	[env.py: 1019]
+05/09 20:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02722409  0.56451116  0.0063501 ] yaw=-178.6deg	[env.py: 1019]
+05/09 20:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:12:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=299.8ms, total=299.8ms	[env.py: 1075]
+05/09 20:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.307, 0.006)	[env.py: 1079]
+05/09 20:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.0 deg	[env.py: 1082]
+05/09 20:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.793m	[env.py: 1086]
+05/09 20:12:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:12:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:12:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:12:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:12:26 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 20:12:26 INFO: [Worker 0] Worker 0 house 1 episode 6/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:12:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:12:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:12:26 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:12:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.080s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:12:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.689s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:12:27 INFO: [Worker 0] Feasible grasp found 363 (originally 169): w/ 0.440[m] 89.782[deg]	[grasp_sample.py: 539]
+05/09 20:12:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:12:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:12:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:12:28 INFO: [Worker 0] Worker 0 house 1 episode 5 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:12:40 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:12:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 20:12:40 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
+05/09 20:12:47 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:12:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 20:12:47 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/09 20:12:48 INFO: [Worker 0] Worker 0 house 1 episode 5 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:12:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:12:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:12:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.91s (batch: 3.76s, save: 8.14s)	[pipeline.py: 300]
+05/09 20:12:53 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.38s:
+  episode_total: mean=172.55s, total=172.55s, count=1, min=172551.1ms, max=172551.1ms
+  sensor_polling: mean=448.0ms, total=127.24s, count=284, min=391.0ms, max=708.4ms
+  save_trajectories: mean=8.14s, total=8.14s, count=1, min=8144.1ms, max=8144.1ms
+  physics_step: mean=22.6ms, total=6.41s, count=284, min=13.6ms, max=58.9ms
+  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3763.9ms, max=3763.9ms
+  task_sampling: mean=381.0ms, total=381.0ms, count=1, min=381.0ms, max=381.0ms
+  task_specific_sample: mean=377.5ms, total=377.5ms, count=1, min=377.5ms, max=377.5ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=371.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=28.2us, 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]
+05/09 20:12:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:12:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:12:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:12:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:12:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:12:54 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:12:54 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:12:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:12:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022463m	[env.py: 870]
+05/09 20:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:12:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01489991  0.17104684  0.02246276] yaw=159.7deg	[env.py: 1019]
+05/09 20:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98332053  0.67156964  0.02246276] yaw=-162.3deg	[env.py: 1019]
+05/09 20:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.19541619  1.15480787  0.02246276] yaw=-131.8deg	[env.py: 1019]
+05/09 20:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:12:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=346.7ms, total=346.8ms	[env.py: 1075]
+05/09 20:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.015, 0.171, 0.022)	[env.py: 1079]
+05/09 20:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.7 deg	[env.py: 1082]
+05/09 20:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m	[env.py: 1086]
+05/09 20:12:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:12:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:12:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:12:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:12:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 20:12:55 INFO: [Worker 0] Worker 0 house 1 episode 6/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:12:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:12:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:12:55 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:12:55 INFO: [Worker 0] Collision-checked 388 grasps in 0.094s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:12:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.862s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:12:56 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.525[m] 104.893[deg]	[grasp_sample.py: 539]
+05/09 20:12:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:12:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:12:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:13:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:13:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:13:01 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.58s (batch: 4.19s, save: 10.40s)	[pipeline.py: 300]
+05/09 20:13:02 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.43s:
+  episode_total: mean=170.82s, total=170.82s, count=1, min=170817.4ms, max=170817.4ms
+  sensor_polling: mean=449.7ms, total=126.80s, count=282, min=398.8ms, max=776.8ms
+  save_trajectories: mean=10.40s, total=10.40s, count=1, min=10396.1ms, max=10396.1ms
+  physics_step: mean=21.6ms, total=6.08s, count=282, min=13.6ms, max=48.4ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4186.5ms, max=4186.5ms
+  task_sampling: mean=434.1ms, total=434.1ms, count=1, min=434.1ms, max=434.1ms
+  task_specific_sample: mean=430.5ms, total=430.5ms, count=1, min=430.5ms, max=430.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=371.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.7us, 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]
+05/09 20:13:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:13:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:13:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:13:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:13:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:13:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:13:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:13:04 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:13:04 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:13:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:13:04 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]
+05/09 20:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046249m	[env.py: 870]
+05/09 20:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:13:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94340916  0.21829848 -0.04624858] yaw=163.1deg	[env.py: 1019]
+05/09 20:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98941404  0.57330091 -0.04624858] yaw=-168.9deg	[env.py: 1019]
+05/09 20:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.83908017  0.54673104 -0.04624858] yaw=-171.9deg	[env.py: 1019]
+05/09 20:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:13:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.8ms, total=176.8ms	[env.py: 1075]
+05/09 20:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.943, 0.218, -0.046)	[env.py: 1079]
+05/09 20:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.1 deg	[env.py: 1082]
+05/09 20:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m	[env.py: 1086]
+05/09 20:13:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:13:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:13:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:13:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:13:04 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 20:13:04 INFO: [Worker 0] Worker 0 house 1 episode 6/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:13:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:13:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:13:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:13:04 INFO: [Worker 0] Collision-checked 388 grasps in 0.063s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:13:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.450s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:13:05 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.560[m] 89.766[deg]	[grasp_sample.py: 539]
+05/09 20:13:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:13:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:13:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:13:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:13:13 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:13:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 20:13:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:13:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:13:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:13:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:13:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:13:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.68s (batch: 4.06s, save: 9.61s)	[pipeline.py: 300]
+05/09 20:13:27 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.42s:
+  episode_total: mean=185.58s, total=185.58s, count=1, min=185584.9ms, max=185584.9ms
+  sensor_polling: mean=447.5ms, total=134.24s, count=300, min=387.0ms, max=813.3ms
+  save_trajectories: mean=9.61s, total=9.61s, count=1, min=9612.7ms, max=9612.7ms
+  physics_step: mean=22.3ms, total=6.70s, count=300, min=14.8ms, max=41.4ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4063.3ms, max=4063.3ms
+  task_sampling: mean=423.4ms, total=423.4ms, count=1, min=423.4ms, max=423.4ms
+  task_specific_sample: mean=418.7ms, total=418.7ms, count=1, min=418.7ms, max=418.7ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=520.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=66.3us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:13:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:13:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:13:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:13:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:13:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:13:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:13:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:13:29 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:13:29 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:13:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:13:29 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]
+05/09 20:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028124m	[env.py: 870]
+05/09 20:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:13:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.11377434  0.20643635  0.02812412] yaw=165.5deg	[env.py: 1019]
+05/09 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04563725  0.75622943  0.02812412] yaw=-149.5deg	[env.py: 1019]
+05/09 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.21171209  0.95746247  0.02812412] yaw=-132.4deg	[env.py: 1019]
+05/09 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:13:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=221.2ms, total=221.2ms	[env.py: 1075]
+05/09 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.114, 0.206, 0.028)	[env.py: 1079]
+05/09 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.5 deg	[env.py: 1082]
+05/09 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.724m	[env.py: 1086]
+05/09 20:13:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:13:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:13:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:13:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:13:30 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 20:13:30 INFO: [Worker 0] Worker 0 house 1 episode 6/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:13:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:13:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:13:30 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:13:30 INFO: [Worker 0] Collision-checked 388 grasps in 0.079s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:13:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.363s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:13:30 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.357[m] 89.171[deg]	[grasp_sample.py: 539]
+05/09 20:13:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:13:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:13:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:13:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:13:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:13:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:14:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:14:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:14:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:14:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:14:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:14:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:14:43 INFO: [Worker 0] Worker 0 house 1 episode 6 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:15:06 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:15:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 20:15:06 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/09 20:15:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:15:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:15:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.69s (batch: 3.71s, save: 7.98s)	[pipeline.py: 300]
+05/09 20:15:18 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.55s:
+  episode_total: mean=173.21s, total=173.21s, count=1, min=173213.1ms, max=173213.1ms
+  sensor_polling: mean=439.8ms, total=125.79s, count=286, min=390.3ms, max=700.8ms
+  save_trajectories: mean=7.98s, total=7.98s, count=1, min=7979.5ms, max=7979.5ms
+  physics_step: mean=23.7ms, total=6.77s, count=286, min=16.8ms, max=64.7ms
+  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3711.7ms, max=3711.7ms
+  task_sampling: mean=551.6ms, total=551.6ms, count=1, min=551.6ms, max=551.6ms
+  task_specific_sample: mean=547.2ms, total=547.2ms, count=1, min=547.2ms, max=547.2ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=549.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.7us, 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]
+05/09 20:15:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:15:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:15:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:15:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:15:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:15:20 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:15:20 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:15:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:15:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011411m	[env.py: 870]
+05/09 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:15:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06118934  0.12130909 -0.01141149] yaw=167.0deg	[env.py: 1019]
+05/09 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95539168  0.3733816  -0.01141149] yaw=165.6deg	[env.py: 1019]
+05/09 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.0401161   0.32518849 -0.01141149] yaw=165.9deg	[env.py: 1019]
+05/09 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:15:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=357.2ms, total=357.2ms	[env.py: 1075]
+05/09 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.061, 0.121, -0.011)	[env.py: 1079]
+05/09 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.0 deg	[env.py: 1082]
+05/09 20:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/09 20:15:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:15:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:15:21 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 20:15:21 INFO: [Worker 0] Worker 0 house 1 episode 7/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:15:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:15:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:15:21 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:15:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.092s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:15:21 INFO: [Worker 0] Worker 0 house 1 episode 6 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:15:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:15:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.916s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:15:22 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.458[m] 82.702[deg]	[grasp_sample.py: 539]
+05/09 20:15:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:15:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:15:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:15:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:15:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:15:29 INFO: [Worker 0] Worker 0 house 1 episode 6 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:15:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:15:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:15:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:15:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:15:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:15:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 20:15:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 20:15:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:15:35 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:15:35 INFO: [Worker 0] Collision-checked 388 grasps in 0.084s, found 318 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:15:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.744s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:15:37 INFO: [Worker 0] Feasible grasp found 346 (originally 152): w/ 0.100[m] 0.227[deg]	[grasp_sample.py: 539]
+05/09 20:15:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:15:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:15:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:15:44 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:15:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 20:15:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:15:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:15:49 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:15:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 20:15:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:15:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:15:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:15:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:15:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.35s (batch: 4.06s, save: 11.29s)	[pipeline.py: 300]
+05/09 20:16:00 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.66s:
+  episode_total: mean=185.67s, total=185.67s, count=1, min=185673.0ms, max=185673.0ms
+  sensor_polling: mean=451.5ms, total=135.45s, count=300, min=400.3ms, max=766.0ms
+  save_trajectories: mean=11.29s, total=11.29s, count=1, min=11289.7ms, max=11289.7ms
+  physics_step: mean=21.0ms, total=6.30s, count=300, min=13.8ms, max=43.5ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4057.2ms, max=4057.2ms
+  task_sampling: mean=664.6ms, total=664.6ms, count=1, min=664.6ms, max=664.6ms
+  task_specific_sample: mean=660.0ms, total=660.0ms, count=1, min=660.0ms, max=660.0ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=583.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=25.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:16:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:16:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:16:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:16:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:16:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:16:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:16:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:16:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:16:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:16:02 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]
+05/09 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000255m	[env.py: 870]
+05/09 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:16:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-9.87050009e-01  9.38221814e-01 -2.54826737e-04] yaw=-138.0deg	[env.py: 1019]
+05/09 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04349127e+00  8.50348093e-01 -2.54826737e-04] yaw=-160.0deg	[env.py: 1019]
+05/09 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-8.61446272e-01  6.77655745e-01 -2.54826737e-04] yaw=-157.4deg	[env.py: 1019]
+05/09 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:16:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=454.8ms, total=454.8ms	[env.py: 1075]
+05/09 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.987, 0.938, -0.000)	[env.py: 1079]
+05/09 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.0 deg	[env.py: 1082]
+05/09 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m	[env.py: 1086]
+05/09 20:16:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:16:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:16:02 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/09 20:16:02 INFO: [Worker 0] Worker 0 house 1 episode 7/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:16:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:16:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:16:02 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:16:03 INFO: [Worker 0] Collision-checked 388 grasps in 0.102s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:16:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:16:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:16:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.29s (batch: 4.44s, save: 10.85s)	[pipeline.py: 300]
+05/09 20:16:05 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.43s:
+  episode_total: mean=181.65s, total=181.65s, count=1, min=181651.7ms, max=181651.7ms
+  sensor_polling: mean=448.1ms, total=134.42s, count=300, min=389.9ms, max=797.9ms
+  save_trajectories: mean=10.85s, total=10.85s, count=1, min=10850.5ms, max=10850.5ms
+  physics_step: mean=21.3ms, total=6.39s, count=300, min=13.7ms, max=56.1ms
+  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4441.0ms, max=4441.0ms
+  task_sampling: mean=426.0ms, total=426.0ms, count=1, min=426.0ms, max=426.0ms
+  task_specific_sample: mean=422.4ms, total=422.4ms, count=1, min=422.4ms, max=422.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=445.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=36.3us, 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]
+05/09 20:16:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.753s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:16:05 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.541[m] 80.604[deg]	[grasp_sample.py: 539]
+05/09 20:16:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:16:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:16:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:16:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:16:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:16:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:16:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:16:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:16:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:16:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:16:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:16:07 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:16:07 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:16:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:16:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012340m	[env.py: 870]
+05/09 20:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:16:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.31053678  0.92519717  0.01233952] yaw=-123.3deg	[env.py: 1019]
+05/09 20:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:16:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=191.8ms, total=191.8ms	[env.py: 1075]
+05/09 20:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.311, 0.925, 0.012)	[env.py: 1079]
+05/09 20:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.3 deg	[env.py: 1082]
+05/09 20:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.703m	[env.py: 1086]
+05/09 20:16:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:16:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:16:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:16:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:16:07 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 20:16:07 INFO: [Worker 0] Worker 0 house 1 episode 7/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:16:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:16:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:16:07 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:16:07 INFO: [Worker 0] Collision-checked 388 grasps in 0.063s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:16:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.416s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:16:08 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.337[m] 83.293[deg]	[grasp_sample.py: 539]
+05/09 20:16:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:16:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:16:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:16:10 INFO: [Worker 0] Worker 0 house 1 episode 6 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:16:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:16:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:16:31 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:16:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 20:16:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:16:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:16:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:16:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:16:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.14s (batch: 4.03s, save: 8.11s)	[pipeline.py: 300]
+05/09 20:16:44 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.47s:
+  episode_total: mean=194.84s, total=194.84s, count=1, min=194835.2ms, max=194835.2ms
+  sensor_polling: mean=450.3ms, total=135.09s, count=300, min=393.5ms, max=813.8ms
+  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8112.7ms, max=8112.7ms
+  physics_step: mean=22.2ms, total=6.67s, count=300, min=14.4ms, max=63.9ms
+  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4031.0ms, max=4031.0ms
+  task_sampling: mean=466.8ms, total=466.8ms, count=1, min=466.8ms, max=466.8ms
+  task_specific_sample: mean=462.9ms, total=462.9ms, count=1, min=462.9ms, max=462.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=436.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.0us, 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]
+05/09 20:16:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:16:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:16:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:16:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:16:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:16:46 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:16:46 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:16:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:16:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042217m	[env.py: 870]
+05/09 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:16:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:16:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=174.4ms, total=174.5ms	[env.py: 1105]
+05/09 20:16:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0'	[opening_task_samplers.py: 285]
+05/09 20:16:46 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0	[pipeline.py: 1063]
+05/09 20:16:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:16:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:16:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:16:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:16:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:16:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:16:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:16:48 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:16:48 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:16:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:16:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044959m	[env.py: 870]
+05/09 20:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:16:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.1366595   1.11924248  0.04495875] yaw=-131.5deg	[env.py: 1019]
+05/09 20:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82752981  0.29937687  0.04495875] yaw=178.3deg	[env.py: 1019]
+05/09 20:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8100827   0.42247689  0.04495875] yaw=188.6deg	[env.py: 1019]
+05/09 20:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:16:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=172.9ms, total=172.9ms	[env.py: 1075]
+05/09 20:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.137, 1.119, 0.045)	[env.py: 1079]
+05/09 20:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.5 deg	[env.py: 1082]
+05/09 20:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
+05/09 20:16:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:16:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:16:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:16:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:16:48 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 20:16:48 INFO: [Worker 0] Worker 0 house 1 episode 8/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:16:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:16:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:16:48 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:16:48 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:16:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:16:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.419s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:16:50 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.625[m] 95.345[deg]	[grasp_sample.py: 539]
+05/09 20:16:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:16:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:16:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:16:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:16:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:17:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:17:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:17:40 INFO: [Worker 0] Worker 0 house 1 episode 7 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:17:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:17:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:18:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:18:03 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:18:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 20:18:03 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/09 20:18:14 INFO: [Worker 0] Worker 0 house 1 episode 7 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:18:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:18:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:18:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.03s (batch: 4.02s, save: 8.02s)	[pipeline.py: 300]
+05/09 20:18:16 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.65s:
+  episode_total: mean=176.12s, total=176.12s, count=1, min=176121.8ms, max=176121.8ms
+  sensor_polling: mean=450.0ms, total=129.15s, count=287, min=391.4ms, max=667.9ms
+  save_trajectories: mean=8.02s, total=8.02s, count=1, min=8016.0ms, max=8016.0ms
+  physics_step: mean=21.7ms, total=6.22s, count=287, min=17.0ms, max=48.6ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4018.4ms, max=4018.4ms
+  task_sampling: mean=654.2ms, total=654.2ms, count=1, min=654.2ms, max=654.2ms
+  task_specific_sample: mean=650.8ms, total=650.8ms, count=1, min=650.8ms, max=650.8ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=433.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.5us, 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]
+05/09 20:18:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:18:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:18:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:18:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:18:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:18:18 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:18:18 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:18:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:18:18 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]
+05/09 20:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026615m	[env.py: 870]
+05/09 20:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:18:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86880792  0.76709053  0.02661465] yaw=-149.5deg	[env.py: 1019]
+05/09 20:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04113942  0.26573174  0.02661465] yaw=159.4deg	[env.py: 1019]
+05/09 20:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.08942888  0.8770734   0.02661465] yaw=-141.2deg	[env.py: 1019]
+05/09 20:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:18:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=248.8ms, total=248.8ms	[env.py: 1075]
+05/09 20:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.767, 0.027)	[env.py: 1079]
+05/09 20:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.5 deg	[env.py: 1082]
+05/09 20:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/09 20:18:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:18:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:18:19 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 20:18:19 INFO: [Worker 0] Worker 0 house 1 episode 8/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:18:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:18:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:18:19 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:18:19 INFO: [Worker 0] Collision-checked 388 grasps in 0.103s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:18:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.308s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:18:21 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.592[m] 79.328[deg]	[grasp_sample.py: 539]
+05/09 20:18:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:18:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:18:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:18:29 INFO: [Worker 0] Worker 0 house 1 episode 7 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:18:36 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:18:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 20:18:36 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/09 20:18:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:18:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:18:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.41s (batch: 3.72s, save: 7.69s)	[pipeline.py: 300]
+05/09 20:18:48 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.45s:
+  episode_total: mean=161.73s, total=161.73s, count=1, min=161733.2ms, max=161733.2ms
+  sensor_polling: mean=447.2ms, total=118.07s, count=264, min=395.7ms, max=653.7ms
+  save_trajectories: mean=7.69s, total=7.69s, count=1, min=7689.5ms, max=7689.5ms
+  physics_step: mean=21.6ms, total=5.71s, count=264, min=13.5ms, max=59.3ms
+  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3716.2ms, max=3716.2ms
+  task_sampling: mean=445.2ms, total=445.2ms, count=1, min=445.2ms, max=445.2ms
+  task_specific_sample: mean=441.5ms, total=441.5ms, count=1, min=441.5ms, max=441.5ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=366.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.1us, 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]
+05/09 20:18:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:18:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:18:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:18:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:18:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:18:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:18:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:18:50 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:18:50 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:18:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:18:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008358m	[env.py: 870]
+05/09 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:18:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81829111  0.4425846   0.00835798] yaw=-175.8deg	[env.py: 1019]
+05/09 20:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:18:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=396.0ms, total=396.1ms	[env.py: 1075]
+05/09 20:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.818, 0.443, 0.008)	[env.py: 1079]
+05/09 20:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.8 deg	[env.py: 1082]
+05/09 20:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
+05/09 20:18:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:18:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:18:51 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:18:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 20:18:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:18:51 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 20:18:51 INFO: [Worker 0] Worker 0 house 1 episode 8/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:18:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:18:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:18:51 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:18:51 INFO: [Worker 0] Collision-checked 388 grasps in 0.076s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:18:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.206s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:18:53 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.591[m] 88.579[deg]	[grasp_sample.py: 539]
+05/09 20:18:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:18:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:18:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:18:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:18:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:19:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:19:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:19:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:19:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:19:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:19:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.53s (batch: 4.49s, save: 10.04s)	[pipeline.py: 300]
+05/09 20:19:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:19:06 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.79s:
+  episode_total: mean=184.19s, total=184.19s, count=1, min=184186.7ms, max=184186.7ms
+  sensor_polling: mean=446.9ms, total=134.06s, count=300, min=384.6ms, max=781.9ms
+  save_trajectories: mean=10.04s, total=10.04s, count=1, min=10037.7ms, max=10037.7ms
+  physics_step: mean=21.9ms, total=6.56s, count=300, min=13.5ms, max=73.2ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4487.4ms, max=4487.4ms
+  task_sampling: mean=788.1ms, total=788.1ms, count=1, min=788.1ms, max=788.1ms
+  task_specific_sample: mean=783.9ms, total=783.9ms, count=1, min=783.9ms, max=783.9ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=532.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.2us, 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]
+05/09 20:19:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:19:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:19:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:19:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:19:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:19:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:19:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:19:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:19:07 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:19:07 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:19:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:19:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043008m	[env.py: 870]
+05/09 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:19:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09556495  0.71703225  0.0430082 ] yaw=-158.1deg	[env.py: 1019]
+05/09 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8046684   0.42580688  0.0430082 ] yaw=-185.2deg	[env.py: 1019]
+05/09 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.25326138  1.1179168   0.0430082 ] yaw=-122.1deg	[env.py: 1019]
+05/09 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:19:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.1ms, total=167.1ms	[env.py: 1075]
+05/09 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.096, 0.717, 0.043)	[env.py: 1079]
+05/09 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.1 deg	[env.py: 1082]
+05/09 20:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.767m	[env.py: 1086]
+05/09 20:19:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:19:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:19:08 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 20:19:08 INFO: [Worker 0] Worker 0 house 1 episode 8/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:19:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:19:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:19:08 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:19:08 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:19:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.397s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:19:08 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.348[m] 79.976[deg]	[grasp_sample.py: 539]
+05/09 20:19:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:19:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:19:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 20:19:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 20:19:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:19:08 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:19:08 INFO: [Worker 0] Collision-checked 388 grasps in 0.077s, found 354 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:19:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:19:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:19:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.484s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:19:10 INFO: [Worker 0] Feasible grasp found 167 (originally 167): w/ 0.110[m] 4.126[deg]	[grasp_sample.py: 539]
+05/09 20:19:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:19:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:19:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:19:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:19:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:19:25 INFO: [Worker 0] Worker 0 house 1 episode 8 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:19:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:19:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:19:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:19:46 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:19:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 20:19:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:19:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:19:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:19:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:19:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:19:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:19:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.53s (batch: 3.84s, save: 7.68s)	[pipeline.py: 300]
+05/09 20:19:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:19:58 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.57s:
+  episode_total: mean=95.18s, total=190.36s, count=2, min=196.8ms, max=190159.4ms
+  sensor_polling: mean=441.8ms, total=132.53s, count=300, min=379.3ms, max=780.1ms
+  save_trajectories: mean=7.68s, total=7.68s, count=1, min=7683.9ms, max=7683.9ms
+  physics_step: mean=22.3ms, total=6.69s, count=300, min=14.5ms, max=54.1ms
+  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3843.8ms, max=3843.8ms
+  task_specific_sample: mean=374.5ms, total=748.9ms, count=2, min=180.0ms, max=568.9ms
+  task_sampling: mean=571.8ms, total=571.8ms, count=1, min=571.8ms, max=571.8ms
+  task_sampling_failed: mean=196.8ms, total=196.8ms, count=1, min=196.8ms, max=196.8ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=399.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=28.3us, 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]
+05/09 20:19:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:19:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:19:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:19:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:19:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:19:59 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:19:59 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:19:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:19:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041787m	[env.py: 870]
+05/09 20:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:19:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95699159  0.35949127 -0.04178719] yaw=169.1deg	[env.py: 1019]
+05/09 20:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.09681585  1.11052637 -0.04178719] yaw=-135.7deg	[env.py: 1019]
+05/09 20:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.09093618  1.01811402 -0.04178719] yaw=-136.9deg	[env.py: 1019]
+05/09 20:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:19:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.6ms, total=126.6ms	[env.py: 1075]
+05/09 20:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.957, 0.359, -0.042)	[env.py: 1079]
+05/09 20:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.1 deg	[env.py: 1082]
+05/09 20:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
+05/09 20:19:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:19:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:20:00 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 20:20:00 INFO: [Worker 0] Worker 0 house 1 episode 9/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:20:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:20:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:20:00 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:20:00 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:20:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.495s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:20:00 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.539[m] 90.472[deg]	[grasp_sample.py: 539]
+05/09 20:20:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:20:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:20:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:20:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:20:40 INFO: [Worker 0] Worker 0 house 1 episode 8 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:20:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:20:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:20:58 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:20:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 20:20:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:21:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:21:02 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]
+05/09 20:21:02 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.83s:
+  episode_total: mean=164.58s, total=164.58s, count=1, min=164580.7ms, max=164580.7ms
+  sensor_polling: mean=430.2ms, total=129.06s, count=300, min=383.8ms, max=731.3ms
+  physics_step: mean=20.9ms, total=6.27s, count=300, min=16.7ms, max=37.8ms
+  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3898.6ms, max=3898.6ms
+  task_sampling: mean=827.1ms, total=827.1ms, count=1, min=827.1ms, max=827.1ms
+  task_specific_sample: mean=822.6ms, total=822.6ms, count=1, min=822.6ms, max=822.6ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=545.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:21:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:21:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:21:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:21:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:21:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:21:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:21:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:21:04 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:21:04 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:21:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:21:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036456m	[env.py: 870]
+05/09 20:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:21:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80940154  0.39820844  0.03645553] yaw=175.8deg	[env.py: 1019]
+05/09 20:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88957036  0.47662819  0.03645553] yaw=-183.1deg	[env.py: 1019]
+05/09 20:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8970464   0.72237528  0.03645553] yaw=-170.2deg	[env.py: 1019]
+05/09 20:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:21:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=66.3ms, total=66.3ms	[env.py: 1075]
+05/09 20:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.809, 0.398, 0.036)	[env.py: 1079]
+05/09 20:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.8 deg	[env.py: 1082]
+05/09 20:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m	[env.py: 1086]
+05/09 20:21:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:21:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:21:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:21:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:21:04 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 20:21:04 INFO: [Worker 0] Worker 0 house 1 episode 9/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:21:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:21:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:21:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:21:05 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:21:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.756s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:21:05 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.580[m] 83.422[deg]	[grasp_sample.py: 539]
+05/09 20:21:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:21:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:21:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:21:08 INFO: [Worker 0] Worker 0 house 1 episode 8 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:21:09 INFO: [Worker 0] Worker 0 house 1 episode 8 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:21:25 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:21:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 20:21:25 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/09 20:21:28 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:21:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 20:21:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:21:29 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]
+05/09 20:21:29 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.42s:
+  episode_total: mean=141.51s, total=141.51s, count=1, min=141513.2ms, max=141513.2ms
+  sensor_polling: mean=425.1ms, total=112.23s, count=264, min=395.3ms, max=641.4ms
+  physics_step: mean=20.9ms, total=5.51s, count=264, min=14.4ms, max=30.2ms
+  save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3607.6ms, max=3607.6ms
+  task_sampling: mean=415.9ms, total=415.9ms, count=1, min=415.9ms, max=415.9ms
+  task_specific_sample: mean=412.9ms, total=412.9ms, count=1, min=412.9ms, max=412.9ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=365.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:21:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:21:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:21:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:21:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:21:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:21:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:21:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:21:30 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:21:30 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:21:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:21:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.030m, effective arm-mount z=0.830m (base_body_z=-0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030359m	[env.py: 870]
+05/09 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:21:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07664222  0.95976528 -0.03035918] yaw=-148.5deg	[env.py: 1019]
+05/09 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17950548  0.81790322 -0.03035918] yaw=-145.4deg	[env.py: 1019]
+05/09 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0122909   0.94585096 -0.03035918] yaw=-145.1deg	[env.py: 1019]
+05/09 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:21:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=75.4ms, total=75.4ms	[env.py: 1075]
+05/09 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.077, 0.960, -0.030)	[env.py: 1079]
+05/09 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.5 deg	[env.py: 1082]
+05/09 20:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
+05/09 20:21:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:21:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:21:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:21:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:21:31 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 20:21:31 INFO: [Worker 0] Worker 0 house 1 episode 9/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:21:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:21:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:21:31 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:21:31 INFO: [Worker 0] Collision-checked 388 grasps in 0.063s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:21:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.504s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:21:31 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.522[m] 79.291[deg]	[grasp_sample.py: 539]
+05/09 20:21:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:21:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:21:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:21:32 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]
+05/09 20:21:32 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.65s:
+  episode_total: mean=162.19s, total=162.19s, count=1, min=162191.4ms, max=162191.4ms
+  sensor_polling: mean=423.9ms, total=127.17s, count=300, min=393.3ms, max=798.3ms
+  physics_step: mean=20.2ms, total=6.07s, count=300, min=15.6ms, max=28.6ms
+  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3900.7ms, max=3900.7ms
+  task_sampling: mean=646.8ms, total=646.8ms, count=1, min=646.8ms, max=646.8ms
+  task_specific_sample: mean=642.7ms, total=642.7ms, count=1, min=642.7ms, max=642.7ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=438.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=29.0us, 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]
+05/09 20:21:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:21:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:21:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:21:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:21:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:21:34 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:21:34 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:21:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:21:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039447m	[env.py: 870]
+05/09 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:21:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97419048  0.08065501  0.0394474 ] yaw=147.2deg	[env.py: 1019]
+05/09 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.34909146  0.95779567  0.0394474 ] yaw=-128.6deg	[env.py: 1019]
+05/09 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08200367  0.13075267  0.0394474 ] yaw=151.4deg	[env.py: 1019]
+05/09 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:21:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.6ms, total=118.7ms	[env.py: 1075]
+05/09 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.974, 0.081, 0.039)	[env.py: 1079]
+05/09 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.2 deg	[env.py: 1082]
+05/09 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/09 20:21:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:21:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:21:34 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 20:21:34 INFO: [Worker 0] Worker 0 house 1 episode 9/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:21:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:21:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:21:34 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:21:34 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:21:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.594s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:21:35 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.534[m] 87.974[deg]	[grasp_sample.py: 539]
+05/09 20:21:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:21:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:21:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:21:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:22:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:22:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:22:15 INFO: [Worker 0] Worker 0 house 1 episode 9 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:22:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:22:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:22:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:22:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:22:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:22:34 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:22:34 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 20:22:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:22:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:22:38 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]
+05/09 20:22:38 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.42s:
+  episode_total: mean=159.07s, total=159.07s, count=1, min=159073.8ms, max=159073.8ms
+  sensor_polling: mean=421.8ms, total=126.55s, count=300, min=395.7ms, max=661.0ms
+  physics_step: mean=20.9ms, total=6.26s, count=300, min=14.1ms, max=34.4ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3879.2ms, max=3879.2ms
+  task_sampling: mean=417.5ms, total=417.5ms, count=1, min=417.5ms, max=417.5ms
+  task_specific_sample: mean=413.7ms, total=413.7ms, count=1, min=413.7ms, max=413.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=374.7us, 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]
+05/09 20:22:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:22:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:22:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:22:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:22:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:22:40 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:22:40 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:22:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:22:40 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]
+05/09 20:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025824m	[env.py: 870]
+05/09 20:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:22:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96114052  0.43195531  0.02582384] yaw=-189.4deg	[env.py: 1019]
+05/09 20:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14056876  0.66450373  0.02582384] yaw=-162.5deg	[env.py: 1019]
+05/09 20:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11642729  0.7314129   0.02582384] yaw=-153.0deg	[env.py: 1019]
+05/09 20:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:22:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.0ms, total=155.1ms	[env.py: 1075]
+05/09 20:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.961, 0.432, 0.026)	[env.py: 1079]
+05/09 20:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.4 deg	[env.py: 1082]
+05/09 20:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m	[env.py: 1086]
+05/09 20:22:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:22:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:22:40 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 20:22:40 INFO: [Worker 0] Worker 0 house 1 episode 10/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:22:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:22:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:22:40 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:22:40 INFO: [Worker 0] Collision-checked 388 grasps in 0.065s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:22:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.431s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:22:41 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.458[m] 83.389[deg]	[grasp_sample.py: 539]
+05/09 20:22:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:22:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:22:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:23:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:23:23 INFO: [Worker 0] Worker 0 house 1 episode 9 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:23:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:23:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:23:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:23:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:23:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:23:45 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:23:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 20:23:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:23:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:23:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:23:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:23:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:23:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:23:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 20:23:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 20:23:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:23:51 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:23:52 INFO: [Worker 0] Collision-checked 388 grasps in 0.074s, found 326 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:23:52 INFO: [Worker 0] Worker 0 house 1 episode 9 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:23:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:23:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:23:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.96s (batch: 3.89s, save: 8.08s)	[pipeline.py: 300]
+05/09 20:23:57 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.37s:
+  episode_total: mean=173.44s, total=173.44s, count=1, min=173438.7ms, max=173438.7ms
+  sensor_polling: mean=425.5ms, total=127.65s, count=300, min=390.6ms, max=709.5ms
+  save_trajectories: mean=8.08s, total=8.08s, count=1, min=8076.3ms, max=8076.3ms
+  physics_step: mean=19.7ms, total=5.92s, count=300, min=13.5ms, max=31.4ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3888.6ms, max=3888.6ms
+  task_sampling: mean=367.0ms, total=367.0ms, count=1, min=367.0ms, max=367.0ms
+  task_specific_sample: mean=363.7ms, total=363.7ms, count=1, min=363.7ms, max=363.7ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=370.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:23:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:23:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:23:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:23:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:23:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:23:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:23:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:23:59 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:23:59 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:23:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:23:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008601m	[env.py: 870]
+05/09 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:23:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92513032 -0.03266666 -0.00860098] yaw=159.9deg	[env.py: 1019]
+05/09 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 123.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.93907363  0.33922687 -0.00860098] yaw=167.8deg	[env.py: 1019]
+05/09 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:23:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=263.4ms, total=263.4ms	[env.py: 1075]
+05/09 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, -0.033, -0.009)	[env.py: 1079]
+05/09 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.9 deg	[env.py: 1082]
+05/09 20:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/09 20:23:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:23:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:23:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:23:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:23:59 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 20:23:59 INFO: [Worker 0] Worker 0 house 1 episode 10/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:24:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:24:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:24:00 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:24:00 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:24:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.188s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:24:01 INFO: [Worker 0] Feasible grasp found 124 (originally 124): w/ 0.049[m] 12.559[deg]	[grasp_sample.py: 539]
+05/09 20:24:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:24:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:24:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:24:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.873s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:24:03 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.586[m] 76.716[deg]	[grasp_sample.py: 539]
+05/09 20:24:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:24:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:24:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:24:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:24:08 INFO: [Worker 0] Worker 0 house 1 episode 9 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:24:17 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:24:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 20:24:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:24:29 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:24:29 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 20:24:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:24:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:24:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:24:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.75s (batch: 4.06s, save: 8.68s)	[pipeline.py: 300]
+05/09 20:24:31 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.41s:
+  episode_total: mean=176.62s, total=176.62s, count=1, min=176622.9ms, max=176622.9ms
+  sensor_polling: mean=429.4ms, total=128.81s, count=300, min=385.2ms, max=658.2ms
+  save_trajectories: mean=8.68s, total=8.68s, count=1, min=8682.2ms, max=8682.2ms
+  physics_step: mean=19.7ms, total=5.90s, count=300, min=13.8ms, max=65.5ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4064.3ms, max=4064.3ms
+  task_sampling: mean=409.0ms, total=409.0ms, count=1, min=409.0ms, max=409.0ms
+  task_specific_sample: mean=405.9ms, total=405.9ms, count=1, min=405.9ms, max=405.9ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=375.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:24:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:24:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:24:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:24:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:24:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:24:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:24:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:24:32 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:24:32 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:24:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:24:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028946m	[env.py: 870]
+05/09 20:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:24:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07447541  0.57431096  0.02894626] yaw=-161.5deg	[env.py: 1019]
+05/09 20:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86191702  0.54993825  0.02894626] yaw=-176.8deg	[env.py: 1019]
+05/09 20:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:24:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=178.5ms, total=178.5ms	[env.py: 1075]
+05/09 20:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.074, 0.574, 0.029)	[env.py: 1079]
+05/09 20:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.5 deg	[env.py: 1082]
+05/09 20:24:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.745m	[env.py: 1086]
+05/09 20:24:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:24:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:24:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:24:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:24:33 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 20:24:33 INFO: [Worker 0] Worker 0 house 1 episode 10/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:24:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:24:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:24:33 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:24:33 INFO: [Worker 0] Collision-checked 388 grasps in 0.063s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:24:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.407s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:24:33 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.403[m] 92.716[deg]	[grasp_sample.py: 539]
+05/09 20:24:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:24:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:24:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:24:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:24:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:24:45 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.44s (batch: 4.02s, save: 11.42s)	[pipeline.py: 300]
+05/09 20:24:45 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.36s:
+  episode_total: mean=195.09s, total=195.09s, count=1, min=195092.4ms, max=195092.4ms
+  sensor_polling: mean=426.1ms, total=127.82s, count=300, min=399.8ms, max=638.8ms
+  save_trajectories: mean=11.42s, total=11.42s, count=1, min=11419.7ms, max=11419.7ms
+  physics_step: mean=20.0ms, total=5.99s, count=300, min=14.0ms, max=56.3ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4024.5ms, max=4024.5ms
+  task_sampling: mean=358.7ms, total=358.7ms, count=1, min=358.7ms, max=358.7ms
+  task_specific_sample: mean=355.4ms, total=355.4ms, count=1, min=355.4ms, max=355.4ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=368.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:24:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:24:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:24:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:24:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:24:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:24:47 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:24:47 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:24:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:24:47 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]
+05/09 20:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008271m	[env.py: 870]
+05/09 20:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:24:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.128075    0.83192804 -0.00827055] yaw=-155.3deg	[env.py: 1019]
+05/09 20:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0581488   0.48814519 -0.00827055] yaw=-171.3deg	[env.py: 1019]
+05/09 20:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99011904  0.60613265 -0.00827055] yaw=-160.8deg	[env.py: 1019]
+05/09 20:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:24:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=249.4ms, total=249.5ms	[env.py: 1075]
+05/09 20:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.128, 0.832, -0.008)	[env.py: 1079]
+05/09 20:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.3 deg	[env.py: 1082]
+05/09 20:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.789m	[env.py: 1086]
+05/09 20:24:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:24:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:24:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:24:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:24:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 20:24:48 INFO: [Worker 0] Worker 0 house 1 episode 10/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:24:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:24:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:24:48 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:24:48 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:24:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.396s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:24:48 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.437[m] 83.564[deg]	[grasp_sample.py: 539]
+05/09 20:24:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:24:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:24:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:24:58 INFO: [Worker 0] Worker 0 house 1 episode 10 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:25:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:25:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:25:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:25:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:25:22 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:25:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 20:25:22 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/09 20:25:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:25:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:25:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:25:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:25:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:25:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.51s (batch: 4.01s, save: 7.50s)	[pipeline.py: 300]
+05/09 20:25:34 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.41s:
+  episode_total: mean=174.07s, total=174.07s, count=1, min=174068.8ms, max=174068.8ms
+  sensor_polling: mean=443.4ms, total=127.25s, count=287, min=375.2ms, max=693.0ms
+  save_trajectories: mean=7.50s, total=7.50s, count=1, min=7498.8ms, max=7498.8ms
+  physics_step: mean=22.5ms, total=6.45s, count=287, min=14.5ms, max=78.4ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4006.3ms, max=4006.3ms
+  task_sampling: mean=411.1ms, total=411.1ms, count=1, min=411.1ms, max=411.1ms
+  task_specific_sample: mean=407.6ms, total=407.6ms, count=1, min=407.6ms, max=407.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=379.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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]
+05/09 20:25:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:25:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:25:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:25:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:25:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:25:35 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:25:35 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:25:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:25:35 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]
+05/09 20:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015771m	[env.py: 870]
+05/09 20:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:25:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01610219  0.53254451 -0.015771  ] yaw=-172.4deg	[env.py: 1019]
+05/09 20:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98231914  0.26630177 -0.015771  ] yaw=159.8deg	[env.py: 1019]
+05/09 20:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.95086489  0.63882159 -0.015771  ] yaw=-172.3deg	[env.py: 1019]
+05/09 20:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:25:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.8ms, total=152.8ms	[env.py: 1075]
+05/09 20:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.016, 0.533, -0.016)	[env.py: 1079]
+05/09 20:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.4 deg	[env.py: 1082]
+05/09 20:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.796m	[env.py: 1086]
+05/09 20:25:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:25:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:25:36 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 20:25:36 INFO: [Worker 0] Worker 0 house 1 episode 11/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:25:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:25:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:25:36 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:25:36 INFO: [Worker 0] Collision-checked 388 grasps in 0.085s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:25:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.439s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:25:36 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.476[m] 91.759[deg]	[grasp_sample.py: 539]
+05/09 20:25:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:25:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:25:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:25:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:25:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:26:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:26:28 INFO: [Worker 0] Worker 0 house 1 episode 10 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:26:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:26:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:26:50 INFO: [Worker 0] Worker 0 house 1 episode 10 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:26:50 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:26:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 20:26:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:27:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:27:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:27:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.54s (batch: 4.13s, save: 8.42s)	[pipeline.py: 300]
+05/09 20:27:03 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.54s:
+  episode_total: mean=183.91s, total=183.91s, count=1, min=183915.0ms, max=183915.0ms
+  sensor_polling: mean=453.3ms, total=136.00s, count=300, min=394.7ms, max=792.9ms
+  save_trajectories: mean=8.42s, total=8.42s, count=1, min=8418.0ms, max=8418.0ms
+  physics_step: mean=21.1ms, total=6.34s, count=300, min=15.9ms, max=40.0ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4125.7ms, max=4125.7ms
+  task_sampling: mean=536.3ms, total=536.3ms, count=1, min=536.3ms, max=536.3ms
+  task_specific_sample: mean=532.9ms, total=532.9ms, count=1, min=532.9ms, max=532.9ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=365.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:27:03 INFO: [Worker 0] Worker 0 house 1 episode 10 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:27:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:27:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:27:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:27:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:27:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:27:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:27:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:27:04 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:27:04 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:27:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:27:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.033m, effective arm-mount z=0.827m (base_body_z=-0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032901m	[env.py: 870]
+05/09 20:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:27:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.27642559  0.98112183 -0.03290055] yaw=-128.9deg	[env.py: 1019]
+05/09 20:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11141986  0.73371492 -0.03290055] yaw=-154.2deg	[env.py: 1019]
+05/09 20:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11514988  0.17861887 -0.03290055] yaw=163.5deg	[env.py: 1019]
+05/09 20:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:27:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.2ms, total=117.2ms	[env.py: 1075]
+05/09 20:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.276, 0.981, -0.033)	[env.py: 1079]
+05/09 20:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.9 deg	[env.py: 1082]
+05/09 20:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.767m	[env.py: 1086]
+05/09 20:27:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:27:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:27:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:27:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:27:05 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 20:27:05 INFO: [Worker 0] Worker 0 house 1 episode 11/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:27:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:27:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:27:05 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:27:05 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:27:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.423s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:27:05 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.443[m] 84.641[deg]	[grasp_sample.py: 539]
+05/09 20:27:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:27:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:27:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:27:08 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:27:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 20:27:08 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/09 20:27:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:27:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:27:23 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.32s (batch: 3.96s, save: 10.36s)	[pipeline.py: 300]
+05/09 20:27:24 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.43s:
+  episode_total: mean=171.45s, total=171.45s, count=1, min=171454.4ms, max=171454.4ms
+  sensor_polling: mean=451.8ms, total=126.04s, count=279, min=399.2ms, max=776.1ms
+  save_trajectories: mean=10.36s, total=10.36s, count=1, min=10361.5ms, max=10361.5ms
+  physics_step: mean=22.1ms, total=6.17s, count=279, min=16.9ms, max=43.8ms
+  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3956.8ms, max=3956.8ms
+  task_sampling: mean=427.9ms, total=427.9ms, count=1, min=427.9ms, max=427.9ms
+  task_specific_sample: mean=424.3ms, total=424.3ms, count=1, min=424.3ms, max=424.3ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=369.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.6us, 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]
+05/09 20:27:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:27:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:27:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:27:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:27:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:27:25 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:27:25 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:27:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:27:25 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]
+05/09 20:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041301m	[env.py: 870]
+05/09 20:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:27:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9482171   0.53375087  0.04130064] yaw=-165.0deg	[env.py: 1019]
+05/09 20:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:27:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=178.1ms, total=178.2ms	[env.py: 1075]
+05/09 20:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.948, 0.534, 0.041)	[env.py: 1079]
+05/09 20:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.0 deg	[env.py: 1082]
+05/09 20:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m	[env.py: 1086]
+05/09 20:27:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:27:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:27:26 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 20:27:26 INFO: [Worker 0] Worker 0 house 1 episode 11/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:27:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:27:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:27:26 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:27:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:27:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.466s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:27:26 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.486[m] 90.146[deg]	[grasp_sample.py: 539]
+05/09 20:27:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:27:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:27:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:27:27 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:27:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 20:27:27 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/09 20:27:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:27:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:27:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.75s (batch: 3.96s, save: 7.79s)	[pipeline.py: 300]
+05/09 20:27:40 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.54s:
+  episode_total: mean=172.32s, total=172.32s, count=1, min=172317.6ms, max=172317.6ms
+  sensor_polling: mean=443.8ms, total=125.59s, count=283, min=383.4ms, max=859.5ms
+  save_trajectories: mean=7.79s, total=7.79s, count=1, min=7785.8ms, max=7785.8ms
+  physics_step: mean=22.6ms, total=6.39s, count=283, min=13.6ms, max=80.6ms
+  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3965.0ms, max=3965.0ms
+  task_sampling: mean=542.8ms, total=542.8ms, count=1, min=542.8ms, max=542.8ms
+  task_specific_sample: mean=538.7ms, total=538.7ms, count=1, min=538.7ms, max=538.7ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=509.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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]
+05/09 20:27:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:27:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:27:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:27:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:27:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:27:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:27:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:27:41 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:27:41 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:27:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:27:41 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]
+05/09 20:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.049140m	[env.py: 870]
+05/09 20:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:27:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04650326  0.62398401 -0.04913955] yaw=-161.1deg	[env.py: 1019]
+05/09 20:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96047429  0.60718373 -0.04913955] yaw=-157.5deg	[env.py: 1019]
+05/09 20:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.2150269   0.89115094 -0.04913955] yaw=-136.7deg	[env.py: 1019]
+05/09 20:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:27:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.6ms, total=142.6ms	[env.py: 1075]
+05/09 20:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.047, 0.624, -0.049)	[env.py: 1079]
+05/09 20:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg	[env.py: 1082]
+05/09 20:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.784m	[env.py: 1086]
+05/09 20:27:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:27:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:27:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:27:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:27:42 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 20:27:42 INFO: [Worker 0] Worker 0 house 1 episode 11/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:27:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:27:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:27:42 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:27:42 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:27:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.402s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:27:42 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.447[m] 83.805[deg]	[grasp_sample.py: 539]
+05/09 20:27:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:27:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:27:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:27:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:27:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:27:59 INFO: [Worker 0] Worker 0 house 1 episode 11 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:28:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:28:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:28:18 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:28:18 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 20:28:18 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/09 20:28:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:28:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:28:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:28:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:28:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:28:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.59s (batch: 4.09s, save: 11.50s)	[pipeline.py: 300]
+05/09 20:28:35 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.40s:
+  episode_total: mean=179.35s, total=179.35s, count=1, min=179345.4ms, max=179345.4ms
+  sensor_polling: mean=447.8ms, total=131.64s, count=294, min=379.0ms, max=854.5ms
+  save_trajectories: mean=11.50s, total=11.50s, count=1, min=11502.1ms, max=11502.1ms
+  physics_step: mean=25.0ms, total=7.34s, count=294, min=17.7ms, max=71.0ms
+  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4088.5ms, max=4088.5ms
+  task_sampling: mean=401.8ms, total=401.8ms, count=1, min=401.8ms, max=401.8ms
+  task_specific_sample: mean=397.9ms, total=397.9ms, count=1, min=397.9ms, max=397.9ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=441.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:28:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:28:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:28:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:28:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:28:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:28:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:28:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:28:36 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:28:36 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:28:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:28:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034417m	[env.py: 870]
+05/09 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:28:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09027532  1.04970495 -0.03441676] yaw=-133.7deg	[env.py: 1019]
+05/09 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11381938  0.90138289 -0.03441676] yaw=-138.5deg	[env.py: 1019]
+05/09 20:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15446226  0.78363222 -0.03441676] yaw=-162.6deg	[env.py: 1019]
+05/09 20:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:28:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.8ms, total=131.9ms	[env.py: 1075]
+05/09 20:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.090, 1.050, -0.034)	[env.py: 1079]
+05/09 20:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg	[env.py: 1082]
+05/09 20:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m	[env.py: 1086]
+05/09 20:28:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:28:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:28:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:28:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:28:37 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 20:28:37 INFO: [Worker 0] Worker 0 house 1 episode 12/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:28:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:28:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:28:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:28:37 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:28:37 INFO: [Worker 0] Collision-checked 388 grasps in 0.072s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:28:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.283s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:28:38 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.577[m] 84.264[deg]	[grasp_sample.py: 539]
+05/09 20:28:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:28:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:28:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:28:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:29:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:29:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:29:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:29:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:29:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:29:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:29:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:29:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:29:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 20:29:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 20:29:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:29:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:29:22 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 324 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:29:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.343s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:29:24 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.085[m] 0.375[deg]	[grasp_sample.py: 539]
+05/09 20:29:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:29:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:29:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:29:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:29:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:29:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:29:40 INFO: [Worker 0] Worker 0 house 1 episode 11 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:29:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:29:47 INFO: [Worker 0] Worker 0 house 1 episode 11 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:30:00 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:30:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 20:30:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:30:01 INFO: [Worker 0] Worker 0 house 1 episode 11 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:30:08 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:30:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 20:30:08 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
+05/09 20:30:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:30:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:30:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.95s (batch: 4.29s, save: 8.66s)	[pipeline.py: 300]
+05/09 20:30:14 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.37s:
+  episode_total: mean=189.68s, total=189.68s, count=1, min=189679.3ms, max=189679.3ms
+  sensor_polling: mean=451.9ms, total=135.58s, count=300, min=379.1ms, max=940.5ms
+  save_trajectories: mean=8.66s, total=8.66s, count=1, min=8663.2ms, max=8663.2ms
+  physics_step: mean=21.7ms, total=6.51s, count=300, min=13.6ms, max=42.7ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4288.2ms, max=4288.2ms
+  task_sampling: mean=365.9ms, total=365.9ms, count=1, min=365.9ms, max=365.9ms
+  task_specific_sample: mean=362.4ms, total=362.4ms, count=1, min=362.4ms, max=362.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=383.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:30:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:30:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:30:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:30:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:30:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:30:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:30:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:30:15 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:30:15 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:30:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:30:15 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]
+05/09 20:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033045m	[env.py: 870]
+05/09 20:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:30:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04055352  0.08694546  0.03304487] yaw=157.8deg	[env.py: 1019]
+05/09 20:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83911626  0.51206985  0.03304487] yaw=-186.1deg	[env.py: 1019]
+05/09 20:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.09759413  0.58135181  0.03304487] yaw=-166.7deg	[env.py: 1019]
+05/09 20:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:30:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.9ms, total=135.9ms	[env.py: 1075]
+05/09 20:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.041, 0.087, 0.033)	[env.py: 1079]
+05/09 20:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.8 deg	[env.py: 1082]
+05/09 20:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m	[env.py: 1086]
+05/09 20:30:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:30:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:30:16 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 20:30:16 INFO: [Worker 0] Worker 0 house 1 episode 12/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:30:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:30:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:30:16 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:30:16 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:30:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.467s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:30:16 INFO: [Worker 0] Feasible grasp found 328 (originally 134): w/ 0.398[m] 82.128[deg]	[grasp_sample.py: 539]
+05/09 20:30:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:30:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:30:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:30:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:30:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:30:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.14s (batch: 3.74s, save: 8.40s)	[pipeline.py: 300]
+05/09 20:30:21 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.44s:
+  episode_total: mean=175.54s, total=175.54s, count=1, min=175541.9ms, max=175541.9ms
+  sensor_polling: mean=443.8ms, total=130.93s, count=295, min=396.0ms, max=790.0ms
+  save_trajectories: mean=8.40s, total=8.40s, count=1, min=8397.2ms, max=8397.2ms
+  physics_step: mean=22.2ms, total=6.55s, count=295, min=17.0ms, max=101.0ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3740.4ms, max=3740.4ms
+  task_sampling: mean=435.1ms, total=435.1ms, count=1, min=435.1ms, max=435.1ms
+  task_specific_sample: mean=430.9ms, total=430.9ms, count=1, min=430.9ms, max=430.9ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=527.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:30:21 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:30:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 20:30:21 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/09 20:30:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:30:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:30:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:30:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:30:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:30:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:30:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:30:22 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:30:22 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:30:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:30:22 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]
+05/09 20:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003404m	[env.py: 870]
+05/09 20:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:30:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0181245   0.76672407  0.00340404] yaw=-160.3deg	[env.py: 1019]
+05/09 20:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09867107  0.25646365  0.00340404] yaw=176.4deg	[env.py: 1019]
+05/09 20:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.867542    0.45998503  0.00340404] yaw=-177.7deg	[env.py: 1019]
+05/09 20:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:30:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.0ms, total=145.0ms	[env.py: 1075]
+05/09 20:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.018, 0.767, 0.003)	[env.py: 1079]
+05/09 20:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.3 deg	[env.py: 1082]
+05/09 20:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m	[env.py: 1086]
+05/09 20:30:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:30:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:30:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:30:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:30:23 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 20:30:23 INFO: [Worker 0] Worker 0 house 1 episode 12/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:30:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:30:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:30:23 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:30:23 INFO: [Worker 0] Collision-checked 388 grasps in 0.075s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:30:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.720s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:30:24 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.428[m] 81.332[deg]	[grasp_sample.py: 539]
+05/09 20:30:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:30:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:30:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:30:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:30:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:30:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.01s (batch: 4.39s, save: 9.62s)	[pipeline.py: 300]
+05/09 20:30:36 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.40s:
+  episode_total: mean=174.54s, total=174.54s, count=1, min=174539.6ms, max=174539.6ms
+  sensor_polling: mean=451.6ms, total=129.17s, count=286, min=392.5ms, max=763.1ms
+  save_trajectories: mean=9.62s, total=9.62s, count=1, min=9620.6ms, max=9620.6ms
+  physics_step: mean=22.8ms, total=6.52s, count=286, min=16.9ms, max=95.3ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4388.3ms, max=4388.3ms
+  task_sampling: mean=395.3ms, total=395.3ms, count=1, min=395.3ms, max=395.3ms
+  task_specific_sample: mean=391.8ms, total=391.8ms, count=1, min=391.8ms, max=391.8ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=374.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=30.2us, 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]
+05/09 20:30:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:30:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:30:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:30:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:30:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:30:37 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:30:37 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:30:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:30:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.010m, effective arm-mount z=0.850m (base_body_z=-0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009645m	[env.py: 870]
+05/09 20:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:30:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05125726  0.63656363 -0.0096447 ] yaw=-154.2deg	[env.py: 1019]
+05/09 20:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97148936  0.39688441 -0.0096447 ] yaw=185.3deg	[env.py: 1019]
+05/09 20:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.00522339  0.88200857 -0.0096447 ] yaw=-139.0deg	[env.py: 1019]
+05/09 20:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:30:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.1ms, total=145.1ms	[env.py: 1075]
+05/09 20:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.051, 0.637, -0.010)	[env.py: 1079]
+05/09 20:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg	[env.py: 1082]
+05/09 20:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m	[env.py: 1086]
+05/09 20:30:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:30:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:30:38 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 20:30:38 INFO: [Worker 0] Worker 0 house 1 episode 12/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:30:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:30:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:30:38 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:30:38 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:30:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.382s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:30:38 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.412[m] 81.258[deg]	[grasp_sample.py: 539]
+05/09 20:30:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:30:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:30:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:30:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:30:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:30:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:30:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:30:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:30:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:30:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:30:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:30:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 20:30:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 20:30:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:30:54 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:30:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.099s, found 324 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:30:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:30:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.638s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:30:56 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.084[m] 3.638[deg]	[grasp_sample.py: 539]
+05/09 20:30:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:30:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:30:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:31:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:31:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:31:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:31:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:31:12 INFO: [Worker 0] Worker 0 house 1 episode 12 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:31:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:31:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:31:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:31:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:31:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:31:36 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:31:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 20:31:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:31:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:31:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:31:49 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.37s (batch: 4.26s, save: 8.11s)	[pipeline.py: 300]
+05/09 20:31:49 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.43s:
+  episode_total: mean=192.99s, total=192.99s, count=1, min=192985.5ms, max=192985.5ms
+  sensor_polling: mean=439.8ms, total=131.95s, count=300, min=374.9ms, max=703.0ms
+  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8111.7ms, max=8111.7ms
+  physics_step: mean=22.3ms, total=6.68s, count=300, min=14.1ms, max=45.3ms
+  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4258.5ms, max=4258.5ms
+  task_sampling: mean=427.7ms, total=427.7ms, count=1, min=427.7ms, max=427.7ms
+  task_specific_sample: mean=423.5ms, total=423.5ms, count=1, min=423.5ms, max=423.5ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=516.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.7us, 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]
+05/09 20:31:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:31:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:31:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:31:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:31:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:31:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:31:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:31:51 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:31:51 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:31:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:31:51 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]
+05/09 20:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041150m	[env.py: 870]
+05/09 20:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:31:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01855175  0.22181732  0.04114998] yaw=156.6deg	[env.py: 1019]
+05/09 20:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:31:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=280.3ms, total=280.3ms	[env.py: 1075]
+05/09 20:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.019, 0.222, 0.041)	[env.py: 1079]
+05/09 20:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.6 deg	[env.py: 1082]
+05/09 20:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m	[env.py: 1086]
+05/09 20:31:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:31:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:31:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:31:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:31:52 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 20:31:52 INFO: [Worker 0] Worker 0 house 1 episode 13/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:31:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:31:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:31:52 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:31:52 INFO: [Worker 0] Collision-checked 388 grasps in 0.086s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:31:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.467s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:31:52 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.420[m] 86.658[deg]	[grasp_sample.py: 539]
+05/09 20:31:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:31:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:31:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:32:28 INFO: [Worker 0] Worker 0 house 1 episode 12 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:32:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:32:39 INFO: [Worker 0] Worker 0 house 1 episode 12 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:32:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:32:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:32:46 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:32:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 20:32:46 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
+05/09 20:32:53 INFO: [Worker 0] Worker 0 house 1 episode 12 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:32:58 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:32:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 20:32:58 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
+05/09 20:32:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:32:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:32:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.00s (batch: 3.92s, save: 8.08s)	[pipeline.py: 300]
+05/09 20:32:59 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.38s:
+  episode_total: mean=163.08s, total=163.08s, count=1, min=163083.5ms, max=163083.5ms
+  sensor_polling: mean=448.8ms, total=122.52s, count=273, min=387.7ms, max=724.0ms
+  save_trajectories: mean=8.08s, total=8.08s, count=1, min=8081.7ms, max=8081.7ms
+  physics_step: mean=22.5ms, total=6.15s, count=273, min=13.6ms, max=56.2ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3921.9ms, max=3921.9ms
+  task_sampling: mean=383.6ms, total=383.6ms, count=1, min=383.6ms, max=383.6ms
+  task_specific_sample: mean=380.0ms, total=380.0ms, count=1, min=380.0ms, max=380.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=432.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:33:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:33:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:33:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:33:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:33:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:33:00 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:33:00 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:33:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:33:00 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]
+05/09 20:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039520m	[env.py: 870]
+05/09 20:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:33:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.18096825  1.19241348 -0.03951987] yaw=-129.3deg	[env.py: 1019]
+05/09 20:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.19968549  0.78241192 -0.03951987] yaw=-159.9deg	[env.py: 1019]
+05/09 20:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9052726   0.03490326 -0.03951987] yaw=167.4deg	[env.py: 1019]
+05/09 20:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:33:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.8ms, total=217.9ms	[env.py: 1075]
+05/09 20:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.181, 1.192, -0.040)	[env.py: 1079]
+05/09 20:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.3 deg	[env.py: 1082]
+05/09 20:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m	[env.py: 1086]
+05/09 20:33:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:33:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:33:01 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 20:33:01 INFO: [Worker 0] Worker 0 house 1 episode 13/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:33:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:33:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:33:01 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:33:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:33:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.587s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:33:02 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.669[m] 90.902[deg]	[grasp_sample.py: 539]
+05/09 20:33:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:33:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:33:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:33:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:33:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:33:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.45s (batch: 4.37s, save: 8.07s)	[pipeline.py: 300]
+05/09 20:33:11 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.41s:
+  episode_total: mean=168.26s, total=168.26s, count=1, min=168259.6ms, max=168259.6ms
+  sensor_polling: mean=446.5ms, total=125.48s, count=281, min=395.7ms, max=625.0ms
+  save_trajectories: mean=8.07s, total=8.07s, count=1, min=8073.2ms, max=8073.2ms
+  physics_step: mean=22.4ms, total=6.30s, count=281, min=16.8ms, max=61.1ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4374.6ms, max=4374.6ms
+  task_sampling: mean=413.7ms, total=413.7ms, count=1, min=413.7ms, max=413.7ms
+  task_specific_sample: mean=410.3ms, total=410.3ms, count=1, min=410.3ms, max=410.3ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=362.3us, 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]
+05/09 20:33:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:33:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:33:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:33:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:33:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:33:12 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:33:12 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:33:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:33:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048434m	[env.py: 870]
+05/09 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:33:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89862906  0.66985228 -0.04843441] yaw=-160.8deg	[env.py: 1019]
+05/09 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89150903  0.08077136 -0.04843441] yaw=153.0deg	[env.py: 1019]
+05/09 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:33:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=150.2ms, total=150.2ms	[env.py: 1075]
+05/09 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.670, -0.048)	[env.py: 1079]
+05/09 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.8 deg	[env.py: 1082]
+05/09 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
+05/09 20:33:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:33:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:33:13 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/09 20:33:13 INFO: [Worker 0] Worker 0 house 1 episode 13/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:33:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:33:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:33:13 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:33:13 INFO: [Worker 0] Collision-checked 388 grasps in 0.074s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:33:13 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:33:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 20:33:13 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/09 20:33:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.609s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:33:15 INFO: [Worker 0] Feasible grasp found 344 (originally 150): w/ 0.639[m] 104.435[deg]	[grasp_sample.py: 539]
+05/09 20:33:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:33:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:33:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:33:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:33:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:33:28 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.35s (batch: 3.74s, save: 10.61s)	[pipeline.py: 300]
+05/09 20:33:28 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.39s:
+  episode_total: mean=171.18s, total=171.18s, count=1, min=171182.5ms, max=171182.5ms
+  sensor_polling: mean=448.7ms, total=125.19s, count=279, min=387.5ms, max=665.9ms
+  save_trajectories: mean=10.61s, total=10.61s, count=1, min=10611.2ms, max=10611.2ms
+  physics_step: mean=23.3ms, total=6.49s, count=279, min=16.9ms, max=66.4ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3737.1ms, max=3737.1ms
+  task_sampling: mean=394.7ms, total=394.7ms, count=1, min=394.7ms, max=394.7ms
+  task_specific_sample: mean=391.3ms, total=391.3ms, count=1, min=391.3ms, max=391.3ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=372.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:33:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:33:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:33:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:33:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:33:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:33:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:33:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:33:30 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:33:30 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:33:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:33:30 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]
+05/09 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038462m	[env.py: 870]
+05/09 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:33:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10457112  0.66370478  0.0384624 ] yaw=-156.5deg	[env.py: 1019]
+05/09 20:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:33:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=414.5ms, total=414.5ms	[env.py: 1075]
+05/09 20:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.105, 0.664, 0.038)	[env.py: 1079]
+05/09 20:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg	[env.py: 1082]
+05/09 20:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.739m	[env.py: 1086]
+05/09 20:33:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:33:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:33:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:33:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:33:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 20:33:31 INFO: [Worker 0] Worker 0 house 1 episode 13/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:33:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.173s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:33:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:33:31 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:33:31 INFO: [Worker 0] Collision-checked 388 grasps in 0.080s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:33:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.858s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:33:32 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.356[m] 84.908[deg]	[grasp_sample.py: 539]
+05/09 20:33:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:33:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:33:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:34:07 INFO: [Worker 0] Worker 0 house 1 episode 13 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:34:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:34:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:34:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:34:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:34:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:34:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:34:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:34:27 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:34:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 20:34:27 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/09 20:34:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:34:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:34:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:34:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:34:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.00s (batch: 4.05s, save: 9.96s)	[pipeline.py: 300]
+05/09 20:34:41 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.61s:
+  episode_total: mean=170.57s, total=170.57s, count=1, min=170566.6ms, max=170566.6ms
+  sensor_polling: mean=451.1ms, total=125.87s, count=279, min=390.4ms, max=666.9ms
+  save_trajectories: mean=9.96s, total=9.96s, count=1, min=9955.2ms, max=9955.2ms
+  physics_step: mean=22.7ms, total=6.32s, count=279, min=16.0ms, max=63.3ms
+  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4049.5ms, max=4049.5ms
+  task_sampling: mean=614.5ms, total=614.5ms, count=1, min=614.5ms, max=614.5ms
+  task_specific_sample: mean=610.1ms, total=610.1ms, count=1, min=610.1ms, max=610.1ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=498.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:34:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:34:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:34:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:34:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:34:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:34:43 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:34:43 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:34:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:34:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001769m	[env.py: 870]
+05/09 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:34:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0032488   0.9276154   0.00176919] yaw=-148.4deg	[env.py: 1019]
+05/09 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95159248  0.71240123  0.00176919] yaw=-152.0deg	[env.py: 1019]
+05/09 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8865762   0.79460336  0.00176919] yaw=-165.0deg	[env.py: 1019]
+05/09 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:34:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.5ms, total=208.6ms	[env.py: 1075]
+05/09 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.003, 0.928, 0.002)	[env.py: 1079]
+05/09 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.4 deg	[env.py: 1082]
+05/09 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/09 20:34:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:34:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:34:44 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 20:34:44 INFO: [Worker 0] Worker 0 house 1 episode 14/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:34:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:34:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:34:44 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:34:44 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:34:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.947s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:34:46 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.542[m] 86.182[deg]	[grasp_sample.py: 539]
+05/09 20:34:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:34:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:34:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
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