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diff --git a/fridge1_minimal_wall/running_log.log b/fridge1_minimal_wall/running_log.log
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+++ b/fridge1_minimal_wall/running_log.log
@@ -10491,3 +10491,3851 @@
 05/09 00:27:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
 05/09 00:27:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
 05/09 00:27:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:28:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:28:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:28:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:28:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:28:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:28:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:28:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:28:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:28:57 INFO: [Worker 0] Worker 0 house 1 episode 9 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:29:15 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:29:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 00:29:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:29:26 INFO: [Worker 0] Worker 0 house 1 episode 9 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:29:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:29:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:29:29 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.52s (batch: 4.18s, save: 9.34s)	[pipeline.py: 300]
+05/09 00:29:29 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.41s:
+  episode_total: mean=178.89s, total=178.89s, count=1, min=178891.9ms, max=178891.9ms
+  sensor_polling: mean=448.5ms, total=134.54s, count=300, min=363.8ms, max=822.7ms
+  save_trajectories: mean=9.34s, total=9.34s, count=1, min=9340.4ms, max=9340.4ms
+  physics_step: mean=21.9ms, total=6.56s, count=300, min=16.8ms, max=44.8ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4178.8ms, max=4178.8ms
+  task_sampling: mean=414.7ms, total=414.7ms, count=1, min=414.7ms, max=414.7ms
+  task_specific_sample: mean=411.6ms, total=411.6ms, count=1, min=411.6ms, max=411.6ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=362.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:29:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:29:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:29:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:29:31 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:29:31 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 00:29:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:29:31 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 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030456m	[env.py: 870]
+05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:29:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.08859982  0.94530399 -0.03045637] yaw=-145.2deg	[env.py: 1019]
+05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13006236  0.97618689 -0.03045637] yaw=-140.0deg	[env.py: 1019]
+05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.08763752  0.18072668 -0.03045637] yaw=168.8deg	[env.py: 1019]
+05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:29:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.4ms, total=122.5ms	[env.py: 1075]
+05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.089, 0.945, -0.030)	[env.py: 1079]
+05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.2 deg	[env.py: 1082]
+05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m	[env.py: 1086]
+05/09 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:29:31 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 00:29:31 INFO: [Worker 0] Worker 0 house 1 episode 10/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:29:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:29:31 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 00:29:31 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:29:31 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:29:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:29:32 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.478[m] 79.811[deg]	[grasp_sample.py: 539]
+05/09 00:29:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:29:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:29:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:29:36 INFO: [Worker 0] Worker 0 house 1 episode 9 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:29:40 INFO: [Worker 0] Worker 0 house 1 episode 9 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:29:47 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:29:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 00:29:47 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/09 00:29:59 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:29:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 00:29:59 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/09 00:30:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:30:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:30:01 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.01s (batch: 4.85s, save: 9.16s)	[pipeline.py: 300]
+05/09 00:30:02 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.46s:
+  episode_total: mean=181.29s, total=181.29s, count=1, min=181285.9ms, max=181285.9ms
+  sensor_polling: mean=458.5ms, total=134.79s, count=294, min=402.1ms, max=814.8ms
+  save_trajectories: mean=9.16s, total=9.16s, count=1, min=9159.5ms, max=9159.5ms
+  physics_step: mean=21.5ms, total=6.32s, count=294, min=17.3ms, max=89.9ms
+  save_batch_prep: mean=4.85s, total=4.85s, count=1, min=4848.8ms, max=4848.8ms
+  task_sampling: mean=459.6ms, total=459.6ms, count=1, min=459.6ms, max=459.6ms
+  task_specific_sample: mean=455.1ms, total=455.1ms, count=1, min=455.1ms, max=455.1ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=560.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:30:03 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:30:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 00:30:03 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
+05/09 00:30:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:30:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:30:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:30:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:30:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:30:03 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:30:03 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 00:30:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:30:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010430m	[env.py: 870]
+05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:30:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94896892  0.0812424   0.01042956] yaw=165.3deg	[env.py: 1019]
+05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89476608  0.72097508  0.01042956] yaw=-170.5deg	[env.py: 1019]
+05/09 00:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:30:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=222.9ms, total=222.9ms	[env.py: 1075]
+05/09 00:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.081, 0.010)	[env.py: 1079]
+05/09 00:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.3 deg	[env.py: 1082]
+05/09 00:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
+05/09 00:30:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:30:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:30:04 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 00:30:04 INFO: [Worker 0] Worker 0 house 1 episode 10/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:30:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:30:04 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 00:30:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:30:04 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:30:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.664s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:30:05 INFO: [Worker 0] Feasible grasp found 386 (originally 192): w/ 0.556[m] 90.219[deg]	[grasp_sample.py: 539]
+05/09 00:30:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:30:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:30:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:30:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:30:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:30:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.91s (batch: 3.77s, save: 8.13s)	[pipeline.py: 300]
+05/09 00:30:12 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.82s:
+  episode_total: mean=176.77s, total=176.77s, count=1, min=176772.7ms, max=176772.7ms
+  sensor_polling: mean=449.1ms, total=128.88s, count=287, min=382.0ms, max=754.4ms
+  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8133.2ms, max=8133.2ms
+  physics_step: mean=21.6ms, total=6.21s, count=287, min=15.7ms, max=45.4ms
+  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3773.0ms, max=3773.0ms
+  task_sampling: mean=820.0ms, total=820.0ms, count=1, min=820.0ms, max=820.0ms
+  task_specific_sample: mean=816.2ms, total=816.2ms, count=1, min=816.2ms, max=816.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=446.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:30:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:30:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:30:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:30:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:30:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:30:14 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:30:14 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 00:30:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:30:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017753m	[env.py: 870]
+05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:30:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89364373  0.75710711 -0.0177525 ] yaw=-169.4deg	[env.py: 1019]
+05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.17033027  0.79102966 -0.0177525 ] yaw=-156.8deg	[env.py: 1019]
+05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92093599  0.00801014 -0.0177525 ] yaw=145.0deg	[env.py: 1019]
+05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:30:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.9ms, total=179.9ms	[env.py: 1075]
+05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.757, -0.018)	[env.py: 1079]
+05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.4 deg	[env.py: 1082]
+05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
+05/09 00:30:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:30:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:30:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:30:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:30:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.03s (batch: 3.64s, save: 7.40s)	[pipeline.py: 300]
+05/09 00:30:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 00:30:14 INFO: [Worker 0] Worker 0 house 1 episode 10/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:30:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:30:14 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 00:30:14 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:30:14 INFO: [Worker 0] Collision-checked 388 grasps in 0.063s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:30:14 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.73s:
+  episode_total: mean=169.72s, total=169.72s, count=1, min=169722.7ms, max=169722.7ms
+  sensor_polling: mean=445.5ms, total=125.20s, count=281, min=385.4ms, max=809.3ms
+  save_trajectories: mean=7.40s, total=7.40s, count=1, min=7395.3ms, max=7395.3ms
+  physics_step: mean=21.6ms, total=6.08s, count=281, min=13.6ms, max=109.7ms
+  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3638.1ms, max=3638.1ms
+  task_sampling: mean=729.1ms, total=729.1ms, count=1, min=729.1ms, max=729.1ms
+  task_specific_sample: mean=725.0ms, total=725.0ms, count=1, min=725.0ms, max=725.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=519.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:30:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:30:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.423s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:30:16 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.614[m] 94.266[deg]	[grasp_sample.py: 539]
+05/09 00:30:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:30:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:30:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:30:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:30:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:30:16 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:30:16 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 00:30:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:30:16 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 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048428m	[env.py: 870]
+05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:30:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9498028   0.60504739  0.04842806] yaw=-174.7deg	[env.py: 1019]
+05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02215921  0.3124304   0.04842806] yaw=172.1deg	[env.py: 1019]
+05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:30:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=132.9ms, total=133.0ms	[env.py: 1075]
+05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.950, 0.605, 0.048)	[env.py: 1079]
+05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg	[env.py: 1082]
+05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m	[env.py: 1086]
+05/09 00:30:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:30:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:30:16 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 00:30:16 INFO: [Worker 0] Worker 0 house 1 episode 10/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:30:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:30:16 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 00:30:16 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:30:16 INFO: [Worker 0] Collision-checked 388 grasps in 0.079s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:30:17 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/09 00:30:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.447s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:30:17 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.463[m] 83.117[deg]	[grasp_sample.py: 539]
+05/09 00:30:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:30:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:30:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:30:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:30:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:30:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:30:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:30:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:30:18 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:30:18 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 00:30:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:30:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.032m, effective arm-mount z=0.828m (base_body_z=-0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032386m	[env.py: 870]
+05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:30:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82053371  0.5419466  -0.03238584] yaw=-167.0deg	[env.py: 1019]
+05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01091501  0.19969049 -0.03238584] yaw=160.1deg	[env.py: 1019]
+05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.04561023  0.55978781 -0.03238584] yaw=-177.3deg	[env.py: 1019]
+05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:30:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=282.6ms, total=282.6ms	[env.py: 1075]
+05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.821, 0.542, -0.032)	[env.py: 1079]
+05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.0 deg	[env.py: 1082]
+05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/09 00:30:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:30:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:30:19 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 00:30:19 INFO: [Worker 0] Worker 0 house 1 episode 11/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:30:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:30:19 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 00:30:19 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:30:19 INFO: [Worker 0] Collision-checked 388 grasps in 0.097s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:30:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.202s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:30:20 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.657[m] 94.328[deg]	[grasp_sample.py: 539]
+05/09 00:30:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:30:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:30:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:30:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:30:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:31:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:31:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:31:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:31:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:31:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:31:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:31:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:31:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:31:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:31:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:31:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:31:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:31:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:31:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:31:57 INFO: [Worker 0] Worker 0 house 1 episode 10 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:32:15 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:32:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 00:32:15 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
+05/09 00:32:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:32:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:32:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.07s (batch: 3.57s, save: 8.51s)	[pipeline.py: 300]
+05/09 00:32:27 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.37s:
+  episode_total: mean=176.37s, total=176.37s, count=1, min=176365.7ms, max=176365.7ms
+  sensor_polling: mean=449.8ms, total=130.44s, count=290, min=374.4ms, max=886.9ms
+  save_trajectories: mean=8.51s, total=8.51s, count=1, min=8507.6ms, max=8507.6ms
+  physics_step: mean=22.7ms, total=6.59s, count=290, min=14.9ms, max=51.7ms
+  save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3566.4ms, max=3566.4ms
+  task_sampling: mean=372.3ms, total=372.3ms, count=1, min=372.3ms, max=372.3ms
+  task_specific_sample: mean=368.9ms, total=368.9ms, count=1, min=368.9ms, max=368.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=367.6us, 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 00:32:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:32:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:32:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:32:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:32:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:32:29 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:32:29 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 00:32:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:32:29 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 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032505m	[env.py: 870]
+05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:32:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.06626566  0.29669678  0.03250498] yaw=161.2deg	[env.py: 1019]
+05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.99132611  0.09157904  0.03250498] yaw=156.5deg	[env.py: 1019]
+05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:32:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=365.0ms, total=365.0ms	[env.py: 1075]
+05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.066, 0.297, 0.033)	[env.py: 1079]
+05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.2 deg	[env.py: 1082]
+05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.749m	[env.py: 1086]
+05/09 00:32:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:32:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:32:30 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 00:32:30 INFO: [Worker 0] Worker 0 house 1 episode 11/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:32:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:32:30 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 00:32:30 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:32:30 INFO: [Worker 0] Worker 0 house 1 episode 10 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:32:30 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:32:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.649s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:32:31 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.384[m] 88.866[deg]	[grasp_sample.py: 539]
+05/09 00:32:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:32:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:32:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:32:35 INFO: [Worker 0] Worker 0 house 1 episode 10 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:32:43 INFO: [Worker 0] Worker 0 house 1 episode 11 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:32:50 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:32:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 00:32:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:32:57 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:32:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 00:32:57 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
+05/09 00:33:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:33:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:33:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.68s (batch: 4.46s, save: 10.23s)	[pipeline.py: 300]
+05/09 00:33:05 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.47s:
+  episode_total: mean=181.53s, total=181.53s, count=1, min=181532.3ms, max=181532.3ms
+  sensor_polling: mean=451.4ms, total=135.41s, count=300, min=393.2ms, max=807.2ms
+  save_trajectories: mean=10.23s, total=10.23s, count=1, min=10225.6ms, max=10225.6ms
+  physics_step: mean=22.3ms, total=6.70s, count=300, min=16.8ms, max=81.3ms
+  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4458.7ms, max=4458.7ms
+  task_sampling: mean=474.3ms, total=474.3ms, count=1, min=474.3ms, max=474.3ms
+  task_specific_sample: mean=471.2ms, total=471.2ms, count=1, min=471.2ms, max=471.2ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=368.0us, 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 00:33:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:33:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:33:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:33:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:33:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:33:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:33:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:33:06 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:33:06 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 00:33:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:33:06 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 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026324m	[env.py: 870]
+05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:33:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02496039  0.78353805  0.02632417] yaw=-146.0deg	[env.py: 1019]
+05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89801592  0.36602989  0.02632417] yaw=182.5deg	[env.py: 1019]
+05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99331945  0.40011048  0.02632417] yaw=188.1deg	[env.py: 1019]
+05/09 00:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:33:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.6ms, total=167.6ms	[env.py: 1075]
+05/09 00:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.025, 0.784, 0.026)	[env.py: 1079]
+05/09 00:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.0 deg	[env.py: 1082]
+05/09 00:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/09 00:33:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:33:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:33:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:33:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:33:07 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 00:33:07 INFO: [Worker 0] Worker 0 house 1 episode 11/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:33:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:33:07 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 00:33:07 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:33:07 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:33:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 00:33:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:33:07 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:33:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.461s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:33:07 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.463[m] 90.901[deg]	[grasp_sample.py: 539]
+05/09 00:33:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:33:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:33:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:33:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:33:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:33:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:33:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.44s (batch: 4.49s, save: 8.95s)	[pipeline.py: 300]
+05/09 00:33:11 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.38s:
+  episode_total: mean=174.76s, total=174.76s, count=1, min=174764.0ms, max=174764.0ms
+  sensor_polling: mean=445.7ms, total=128.35s, count=288, min=388.9ms, max=779.6ms
+  save_trajectories: mean=8.95s, total=8.95s, count=1, min=8947.9ms, max=8947.9ms
+  physics_step: mean=21.7ms, total=6.24s, count=288, min=16.9ms, max=40.3ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4487.2ms, max=4487.2ms
+  task_sampling: mean=377.6ms, total=377.6ms, count=1, min=377.6ms, max=377.6ms
+  task_specific_sample: mean=374.3ms, total=374.3ms, count=1, min=374.3ms, max=374.3ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=363.2us, 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 00:33:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:33:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:33:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:33:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:33:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:33:12 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:33:12 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 00:33:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:33:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024539m	[env.py: 870]
+05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:33:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89323501  0.32452994 -0.02453873] yaw=170.8deg	[env.py: 1019]
+05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97210113  0.15992892 -0.02453873] yaw=165.8deg	[env.py: 1019]
+05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90183135  0.3933756  -0.02453873] yaw=175.2deg	[env.py: 1019]
+05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:33:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.5ms, total=135.5ms	[env.py: 1075]
+05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.325, -0.025)	[env.py: 1079]
+05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.8 deg	[env.py: 1082]
+05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
+05/09 00:33:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:33:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:33:13 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 00:33:13 INFO: [Worker 0] Worker 0 house 1 episode 11/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:33:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:33:13 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 00:33:13 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:33:13 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:33:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.436s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:33:14 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.595[m] 95.036[deg]	[grasp_sample.py: 539]
+05/09 00:33:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:33:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:33:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:33:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:33:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:33:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:33:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.10s (batch: 3.84s, save: 8.26s)	[pipeline.py: 300]
+05/09 00:33:20 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.93s:
+  episode_total: mean=92.33s, total=184.67s, count=2, min=3037.2ms, max=181631.5ms
+  sensor_polling: mean=443.4ms, total=133.02s, count=300, min=379.1ms, max=712.4ms
+  save_trajectories: mean=8.26s, total=8.26s, count=1, min=8261.3ms, max=8261.3ms
+  physics_step: mean=21.2ms, total=6.36s, count=300, min=16.7ms, max=49.1ms
+  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3842.1ms, max=3842.1ms
+  task_sampling: mean=464.4ms, total=928.9ms, count=2, min=426.4ms, max=502.4ms
+  task_specific_sample: mean=461.1ms, total=922.3ms, count=2, min=423.0ms, max=499.3ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.3ms
+  mj_forward_sync: mean=475.3us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=14.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:33:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:33:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:33:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:33:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:33:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:33:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:33:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:33:21 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 00:33:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:33:21 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 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045527m	[env.py: 870]
+05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:33:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99872653  0.56490798 -0.04552665] yaw=-162.1deg	[env.py: 1019]
+05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.30674688  0.99730555 -0.04552665] yaw=-141.4deg	[env.py: 1019]
+05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08770788  0.29717921 -0.04552665] yaw=164.7deg	[env.py: 1019]
+05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:33:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.2ms, total=104.2ms	[env.py: 1075]
+05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.999, 0.565, -0.046)	[env.py: 1079]
+05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.1 deg	[env.py: 1082]
+05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/09 00:33:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:33:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:33:22 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 00:33:22 INFO: [Worker 0] Worker 0 house 1 episode 12/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:33:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:33:22 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 00:33:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:33:22 INFO: [Worker 0] Collision-checked 388 grasps in 0.115s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:33:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.374s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:33:22 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.423[m] 79.389[deg]	[grasp_sample.py: 539]
+05/09 00:33:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:33:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:33:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:33:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:34:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:34:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:34:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:34:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:34:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:34:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:34:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:34:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:34:52 INFO: [Worker 0] Worker 0 house 1 episode 11 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:35:09 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:35:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 00:35:09 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
+05/09 00:35:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:35:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:35:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:35:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:35:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:35:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:35:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:35:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.50s (batch: 3.50s, save: 7.00s)	[pipeline.py: 300]
+05/09 00:35:20 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.67s:
+  episode_total: mean=171.33s, total=171.33s, count=1, min=171327.9ms, max=171327.9ms
+  sensor_polling: mean=455.6ms, total=124.38s, count=273, min=377.5ms, max=719.1ms
+  save_trajectories: mean=7.00s, total=7.00s, count=1, min=7000.7ms, max=7000.7ms
+  physics_step: mean=21.8ms, total=5.95s, count=273, min=16.6ms, max=50.5ms
+  save_batch_prep: mean=3.50s, total=3.50s, count=1, min=3496.4ms, max=3496.4ms
+  task_sampling: mean=668.9ms, total=668.9ms, count=1, min=668.9ms, max=668.9ms
+  task_specific_sample: mean=664.8ms, total=664.8ms, count=1, min=664.8ms, max=664.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=513.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:35:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:35:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:35:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:35:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:35:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:35:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:35:22 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:35:22 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 00:35:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:35:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040708m	[env.py: 870]
+05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:35:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04068287  0.02334323 -0.04070839] yaw=150.8deg	[env.py: 1019]
+05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94503562  0.294429   -0.04070839] yaw=175.6deg	[env.py: 1019]
+05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06005699  1.01260167 -0.04070839] yaw=-131.8deg	[env.py: 1019]
+05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:35:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.5ms, total=152.6ms	[env.py: 1075]
+05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.041, 0.023, -0.041)	[env.py: 1079]
+05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.8 deg	[env.py: 1082]
+05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m	[env.py: 1086]
+05/09 00:35:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:35:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:35:22 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 00:35:22 INFO: [Worker 0] Worker 0 house 1 episode 12/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:35:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:35:22 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 00:35:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:35:23 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:35:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.465s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:35:23 INFO: [Worker 0] Feasible grasp found 328 (originally 134): w/ 0.493[m] 87.681[deg]	[grasp_sample.py: 539]
+05/09 00:35:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:35:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:35:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:35:38 INFO: [Worker 0] Worker 0 house 1 episode 12 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:35:39 INFO: [Worker 0] Worker 0 house 1 episode 11 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:35:41 INFO: [Worker 0] Worker 0 house 1 episode 11 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:35:58 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:35:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 00:35:58 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
+05/09 00:36:02 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:36:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 00:36:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:36:03 INFO: [Worker 0] Saved videos eagerly for episode 29 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:36:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 00:36:03 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
+05/09 00:36:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:36:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:36:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:36:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.82s (batch: 4.36s, save: 8.46s)	[pipeline.py: 300]
+05/09 00:36:12 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.42s:
+  episode_total: mean=170.61s, total=170.61s, count=1, min=170610.0ms, max=170610.0ms
+  sensor_polling: mean=450.6ms, total=126.62s, count=281, min=391.4ms, max=689.1ms
+  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8455.8ms, max=8455.8ms
+  physics_step: mean=22.6ms, total=6.35s, count=281, min=16.8ms, max=55.0ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4362.6ms, max=4362.6ms
+  task_sampling: mean=424.7ms, total=424.7ms, count=1, min=424.7ms, max=424.7ms
+  task_specific_sample: mean=420.6ms, total=420.6ms, count=1, min=420.6ms, max=420.6ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=496.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:36:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:36:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:36:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:36:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:36:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:36:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:36:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:36:13 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:36:13 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 00:36:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:36:13 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 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008881m	[env.py: 870]
+05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:36:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08107575  0.28065179 -0.00888058] yaw=178.6deg	[env.py: 1019]
+05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89698015  0.77036597 -0.00888058] yaw=-155.8deg	[env.py: 1019]
+05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02094714  0.86919532 -0.00888058] yaw=-143.5deg	[env.py: 1019]
+05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:36:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.1ms, total=124.1ms	[env.py: 1075]
+05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.081, 0.281, -0.009)	[env.py: 1079]
+05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.6 deg	[env.py: 1082]
+05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.738m	[env.py: 1086]
+05/09 00:36:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:36:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:36:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:36:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:36:14 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 00:36:14 INFO: [Worker 0] Worker 0 house 1 episode 13/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:36:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:36:14 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 00:36:14 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:36:14 INFO: [Worker 0] Collision-checked 388 grasps in 0.066s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:36:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:36:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:36:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.57s (batch: 4.46s, save: 8.10s)	[pipeline.py: 300]
+05/09 00:36:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.397s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:36:14 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.382[m] 88.287[deg]	[grasp_sample.py: 539]
+05/09 00:36:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:36:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:36:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:36:15 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.39s:
+  episode_total: mean=182.54s, total=182.54s, count=1, min=182539.5ms, max=182539.5ms
+  sensor_polling: mean=449.9ms, total=134.96s, count=300, min=392.6ms, max=734.6ms
+  save_trajectories: mean=8.10s, total=8.10s, count=1, min=8104.2ms, max=8104.2ms
+  physics_step: mean=21.6ms, total=6.49s, count=300, min=15.1ms, max=42.8ms
+  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4464.4ms, max=4464.4ms
+  task_sampling: mean=391.4ms, total=391.4ms, count=1, min=391.4ms, max=391.4ms
+  task_specific_sample: mean=388.0ms, total=388.0ms, count=1, min=388.0ms, max=388.0ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=362.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.4us, 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 00:36:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:36:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:36:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.23s (batch: 4.12s, save: 8.11s)	[pipeline.py: 300]
+05/09 00:36:16 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.47s:
+  episode_total: mean=189.67s, total=189.67s, count=1, min=189666.4ms, max=189666.4ms
+  sensor_polling: mean=446.6ms, total=129.96s, count=291, min=380.8ms, max=784.5ms
+  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8110.7ms, max=8110.7ms
+  physics_step: mean=23.4ms, total=6.81s, count=291, min=13.6ms, max=87.0ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4123.0ms, max=4123.0ms
+  task_sampling: mean=465.6ms, total=465.6ms, count=1, min=465.6ms, max=465.6ms
+  task_specific_sample: mean=461.5ms, total=461.5ms, count=1, min=461.5ms, max=461.5ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=518.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:36:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:36:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:36:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:36:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:36:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:36:16 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:36:16 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 00:36:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:36:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023607m	[env.py: 870]
+05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:36:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88128277  0.77764637 -0.02360656] yaw=-162.6deg	[env.py: 1019]
+05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:36:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=177.9ms, total=178.0ms	[env.py: 1075]
+05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.778, -0.024)	[env.py: 1079]
+05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.6 deg	[env.py: 1082]
+05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/09 00:36:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:36:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:36:17 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 00:36:17 INFO: [Worker 0] Worker 0 house 1 episode 12/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:36:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:36:17 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 00:36:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:36:17 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:36:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:36:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:36:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:36:18 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:36:18 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 00:36:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:36:18 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 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045877m	[env.py: 870]
+05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:36:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88692803  0.3541931  -0.04587716] yaw=168.3deg	[env.py: 1019]
+05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.11489261  0.63170664 -0.04587716] yaw=-168.0deg	[env.py: 1019]
+05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:36:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=168.1ms, total=168.1ms	[env.py: 1075]
+05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.887, 0.354, -0.046)	[env.py: 1079]
+05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.3 deg	[env.py: 1082]
+05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/09 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:36:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.220s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:36:18 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.561[m] 76.454[deg]	[grasp_sample.py: 539]
+05/09 00:36:18 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 00:36:18 INFO: [Worker 0] Worker 0 house 1 episode 12/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:36:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:36:18 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 00:36:18 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:36:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:36:18 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:36:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:36:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:36:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.597s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:36:19 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.544[m] 80.200[deg]	[grasp_sample.py: 539]
+05/09 00:36:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:36:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:36:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:36:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:36:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:36:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:37:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:37:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:37:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:37:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:37:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:37:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:37:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:37:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:37:47 INFO: [Worker 0] Worker 0 house 1 episode 12 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:38:07 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:38:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 00:38:07 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/09 00:38:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:38:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:38:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.60s (batch: 3.73s, save: 7.87s)	[pipeline.py: 300]
+05/09 00:38:19 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.43s:
+  episode_total: mean=176.77s, total=176.77s, count=1, min=176771.0ms, max=176771.0ms
+  sensor_polling: mean=456.0ms, total=134.08s, count=294, min=368.7ms, max=832.7ms
+  save_trajectories: mean=7.87s, total=7.87s, count=1, min=7874.9ms, max=7874.9ms
+  physics_step: mean=22.6ms, total=6.64s, count=294, min=13.6ms, max=69.6ms
+  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3726.2ms, max=3726.2ms
+  task_sampling: mean=427.1ms, total=427.1ms, count=1, min=427.1ms, max=427.1ms
+  task_specific_sample: mean=423.7ms, total=423.7ms, count=1, min=423.7ms, max=423.7ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=349.1us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  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 00:38:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:38:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:38:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:38:20 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:38:20 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 00:38:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:38:20 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 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029719m	[env.py: 870]
+05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:38:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93246037  0.4424219   0.02971872] yaw=-178.7deg	[env.py: 1019]
+05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85226279  0.61471608  0.02971872] yaw=-172.1deg	[env.py: 1019]
+05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.17276385  0.81898315  0.02971872] yaw=-137.4deg	[env.py: 1019]
+05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:38:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.3ms, total=96.3ms	[env.py: 1075]
+05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.442, 0.030)	[env.py: 1079]
+05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.7 deg	[env.py: 1082]
+05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
+05/09 00:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:38:21 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 00:38:21 INFO: [Worker 0] Worker 0 house 1 episode 13/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:38:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:38:21 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 00:38:21 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:38:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:38:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.513s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:38:21 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.476[m] 86.333[deg]	[grasp_sample.py: 539]
+05/09 00:38:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:38:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:38:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:38:36 INFO: [Worker 0] Worker 0 house 1 episode 13 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:38:41 INFO: [Worker 0] Worker 0 house 1 episode 12 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:38:43 INFO: [Worker 0] Worker 0 house 1 episode 12 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:38:56 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:38:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 00:38:56 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
+05/09 00:39:03 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:39:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 00:39:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:39:04 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:39:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 00:39:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:39:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:39:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:39:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:39:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.21s (batch: 3.75s, save: 7.46s)	[pipeline.py: 300]
+05/09 00:39:07 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.38s:
+  episode_total: mean=174.07s, total=174.07s, count=1, min=174071.3ms, max=174071.3ms
+  sensor_polling: mean=452.0ms, total=123.38s, count=273, min=395.7ms, max=746.0ms
+  save_trajectories: mean=7.46s, total=7.46s, count=1, min=7458.7ms, max=7458.7ms
+  physics_step: mean=22.5ms, total=6.15s, count=273, min=13.6ms, max=48.2ms
+  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3750.5ms, max=3750.5ms
+  task_sampling: mean=378.3ms, total=378.3ms, count=1, min=378.3ms, max=378.3ms
+  task_specific_sample: mean=374.9ms, total=374.9ms, count=1, min=374.9ms, max=374.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=370.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 00:39:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:39:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:39:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:39:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:39:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:39:09 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:39:09 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 00:39:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:39:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042338m	[env.py: 870]
+05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:39:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.30400409  0.91988913  0.04233759] yaw=-145.2deg	[env.py: 1019]
+05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08623403  0.83717712  0.04233759] yaw=-146.7deg	[env.py: 1019]
+05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.12017367  0.66669056  0.04233759] yaw=-154.0deg	[env.py: 1019]
+05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:39:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.6ms, total=194.6ms	[env.py: 1075]
+05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.304, 0.920, 0.042)	[env.py: 1079]
+05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.2 deg	[env.py: 1082]
+05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.704m	[env.py: 1086]
+05/09 00:39:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:39:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:39:10 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 00:39:10 INFO: [Worker 0] Worker 0 house 1 episode 14/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:39:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:39:10 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 00:39:10 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:39:10 INFO: [Worker 0] Collision-checked 388 grasps in 0.136s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:39:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.849s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:39:11 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.393[m] 83.337[deg]	[grasp_sample.py: 539]
+05/09 00:39:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:39:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:39:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:39:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:39:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:39:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:39:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.47s (batch: 3.90s, save: 10.57s)	[pipeline.py: 300]
+05/09 00:39:18 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.43s:
+  episode_total: mean=182.00s, total=182.00s, count=1, min=182001.6ms, max=182001.6ms
+  sensor_polling: mean=445.8ms, total=133.73s, count=300, min=376.0ms, max=834.9ms
+  save_trajectories: mean=10.57s, total=10.57s, count=1, min=10574.1ms, max=10574.1ms
+  physics_step: mean=21.5ms, total=6.46s, count=300, min=15.2ms, max=54.2ms
+  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3897.2ms, max=3897.2ms
+  task_sampling: mean=430.7ms, total=430.7ms, count=1, min=430.7ms, max=430.7ms
+  task_specific_sample: mean=427.3ms, total=427.3ms, count=1, min=427.3ms, max=427.3ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=371.6us, 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 00:39:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:39:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:39:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.20s (batch: 3.79s, save: 10.41s)	[pipeline.py: 300]
+05/09 00:39:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:39:19 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.42s:
+  episode_total: mean=181.48s, total=181.48s, count=1, min=181479.7ms, max=181479.7ms
+  sensor_polling: mean=450.7ms, total=135.22s, count=300, min=392.8ms, max=862.9ms
+  save_trajectories: mean=10.41s, total=10.41s, count=1, min=10408.1ms, max=10408.1ms
+  physics_step: mean=20.8ms, total=6.24s, count=300, min=16.2ms, max=38.8ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3787.5ms, max=3787.5ms
+  task_sampling: mean=416.5ms, total=416.5ms, count=1, min=416.5ms, max=416.5ms
+  task_specific_sample: mean=413.1ms, total=413.1ms, count=1, min=413.1ms, max=413.1ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=357.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:39:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:39:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:39:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:39:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:39:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:39:20 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:39:20 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 00:39:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:39:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018179m	[env.py: 870]
+05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:39:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92869054  0.30975419  0.01817944] yaw=166.6deg	[env.py: 1019]
+05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92866526  0.26289774  0.01817944] yaw=170.4deg	[env.py: 1019]
+05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96588328  0.8899246   0.01817944] yaw=-146.1deg	[env.py: 1019]
+05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:39:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.0ms, total=120.1ms	[env.py: 1075]
+05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.310, 0.018)	[env.py: 1079]
+05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.6 deg	[env.py: 1082]
+05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/09 00:39:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:39:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:39:20 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 00:39:20 INFO: [Worker 0] Worker 0 house 1 episode 13/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:39:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:39:20 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 00:39:20 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:39:20 INFO: [Worker 0] Collision-checked 388 grasps in 0.077s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:39:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:39:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:39:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:39:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:39:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:39:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:39:21 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 00:39:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:39:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004049m	[env.py: 870]
+05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:39:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.19722567  0.8895176  -0.0040489 ] yaw=-146.9deg	[env.py: 1019]
+05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10430536  0.87813597 -0.0040489 ] yaw=-148.4deg	[env.py: 1019]
+05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.11984714  0.15142926 -0.0040489 ] yaw=168.2deg	[env.py: 1019]
+05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:39:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.3ms, total=125.4ms	[env.py: 1075]
+05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.197, 0.890, -0.004)	[env.py: 1079]
+05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.9 deg	[env.py: 1082]
+05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.764m	[env.py: 1086]
+05/09 00:39:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:39:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:39:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.584s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:39:21 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.508[m] 86.821[deg]	[grasp_sample.py: 539]
+05/09 00:39:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:39:21 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 00:39:21 INFO: [Worker 0] Worker 0 house 1 episode 13/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:39:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:39:21 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 00:39:21 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:39:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:39:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:39:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:39:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.443s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:39:22 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.462[m] 87.883[deg]	[grasp_sample.py: 539]
+05/09 00:39:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:39:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:39:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:39:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:40:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:40:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:40:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:40:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:40:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:40:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:40:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:40:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:40:45 INFO: [Worker 0] Worker 0 house 1 episode 13 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:41:06 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:41:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 00:41:06 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/09 00:41:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:41:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:41:17 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.88s (batch: 3.63s, save: 7.25s)	[pipeline.py: 300]
+05/09 00:41:17 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.38s:
+  episode_total: mean=176.94s, total=176.94s, count=1, min=176940.1ms, max=176940.1ms
+  sensor_polling: mean=454.9ms, total=132.82s, count=292, min=367.7ms, max=939.7ms
+  save_trajectories: mean=7.25s, total=7.25s, count=1, min=7248.7ms, max=7248.7ms
+  physics_step: mean=24.6ms, total=7.18s, count=292, min=13.2ms, max=59.0ms
+  save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3629.8ms, max=3629.8ms
+  task_sampling: mean=383.5ms, total=383.5ms, count=1, min=383.5ms, max=383.5ms
+  task_specific_sample: mean=380.5ms, total=380.5ms, count=1, min=380.5ms, max=380.5ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=358.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:41:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:41:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:41:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:41:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:41:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:41:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:41:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:41:19 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:41:19 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 00:41:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:41:19 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 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043037m	[env.py: 870]
+05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:41:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11807875  0.69234685  0.04303737] yaw=-165.3deg	[env.py: 1019]
+05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.26940312  0.90129065  0.04303737] yaw=-138.1deg	[env.py: 1019]
+05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.11518308  1.14453994  0.04303737] yaw=-124.1deg	[env.py: 1019]
+05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:41:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.6ms, total=162.6ms	[env.py: 1075]
+05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.118, 0.692, 0.043)	[env.py: 1079]
+05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.3 deg	[env.py: 1082]
+05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.736m	[env.py: 1086]
+05/09 00:41:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:41:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:41:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:41:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:41:19 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 00:41:19 INFO: [Worker 0] Worker 0 house 1 episode 14/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:41:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:41:19 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 00:41:19 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:41:19 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:41:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:41:20 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.368[m] 89.057[deg]	[grasp_sample.py: 539]
+05/09 00:41:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:41:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:41:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:41:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:41:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:41:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:41:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:41:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:41:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:41:32 INFO: [Worker 0] Worker 0 house 1 episode 14 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:41:41 INFO: [Worker 0] Worker 0 house 1 episode 13 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:41:44 INFO: [Worker 0] Worker 0 house 1 episode 13 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:41:51 INFO: [Worker 0] Saved videos eagerly for episode 29 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:41:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 00:41:51 INFO: [Worker 0] Preparing episode data: 277 timesteps	[save_utils.py: 278]
+05/09 00:41:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:42:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:42:02 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:42:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 00:42:02 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
+05/09 00:42:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:42:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:42:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.03s (batch: 4.07s, save: 7.97s)	[pipeline.py: 300]
+05/09 00:42:04 INFO: [Worker 0] Saved videos eagerly for episode 29 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:42:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 00:42:04 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
+05/09 00:42:04 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.52s:
+  episode_total: mean=174.65s, total=174.65s, count=1, min=174649.7ms, max=174649.7ms
+  sensor_polling: mean=455.4ms, total=125.69s, count=276, min=388.2ms, max=1027.1ms
+  save_trajectories: mean=7.97s, total=7.97s, count=1, min=7965.5ms, max=7965.5ms
+  physics_step: mean=21.7ms, total=6.00s, count=276, min=16.0ms, max=62.7ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4067.5ms, max=4067.5ms
+  task_sampling: mean=518.9ms, total=518.9ms, count=1, min=518.9ms, max=518.9ms
+  task_specific_sample: mean=514.9ms, total=514.9ms, count=1, min=514.9ms, max=514.9ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=441.6us, 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 00:42:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:42:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:42:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:42:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:42:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:42:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:42:05 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:42:05 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 00:42:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:42:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024912m	[env.py: 870]
+05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:42:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.21715629  1.01167439 -0.02491237] yaw=-129.5deg	[env.py: 1019]
+05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.26071604  0.94923582 -0.02491237] yaw=-144.3deg	[env.py: 1019]
+05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07780143  0.77624616 -0.02491237] yaw=-142.9deg	[env.py: 1019]
+05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:42:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=83.6ms, total=83.6ms	[env.py: 1075]
+05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.217, 1.012, -0.025)	[env.py: 1079]
+05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.5 deg	[env.py: 1082]
+05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/09 00:42:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:42:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:42:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 00:42:06 INFO: [Worker 0] Worker 0 house 1 episode 15/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:42:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:42:06 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 00:42:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:42:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:42:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.426s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:42:06 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.513[m] 93.525[deg]	[grasp_sample.py: 539]
+05/09 00:42:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:42:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:42:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:42:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:42:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:42:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.90s (batch: 3.72s, save: 9.18s)	[pipeline.py: 300]
+05/09 00:42:15 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.40s:
+  episode_total: mean=174.58s, total=174.58s, count=1, min=174583.2ms, max=174583.2ms
+  sensor_polling: mean=447.6ms, total=129.80s, count=290, min=390.0ms, max=880.9ms
+  save_trajectories: mean=9.18s, total=9.18s, count=1, min=9180.9ms, max=9180.9ms
+  physics_step: mean=21.5ms, total=6.25s, count=290, min=13.6ms, max=54.7ms
+  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3717.7ms, max=3717.7ms
+  task_sampling: mean=398.3ms, total=398.3ms, count=1, min=398.3ms, max=398.3ms
+  task_specific_sample: mean=394.1ms, total=394.1ms, count=1, min=394.1ms, max=394.1ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=434.4us, 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 00:42:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:42:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:42:17 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.09s (batch: 3.57s, save: 9.52s)	[pipeline.py: 300]
+05/09 00:42:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:42:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:42:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:42:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:42:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:42:17 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:42:17 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 00:42:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:42:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001414m	[env.py: 870]
+05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:42:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.15434219  1.04192294  0.00141421] yaw=-130.3deg	[env.py: 1019]
+05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.16787548  1.03477138  0.00141421] yaw=-142.6deg	[env.py: 1019]
+05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.15409177  1.17190527  0.00141421] yaw=-142.0deg	[env.py: 1019]
+05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:42:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=428.3ms, total=428.3ms	[env.py: 1075]
+05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.154, 1.042, 0.001)	[env.py: 1079]
+05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.3 deg	[env.py: 1082]
+05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/09 00:42:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:42:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:42:18 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.41s:
+  episode_total: mean=177.78s, total=177.78s, count=1, min=177782.6ms, max=177782.6ms
+  sensor_polling: mean=444.3ms, total=132.39s, count=298, min=386.6ms, max=790.1ms
+  save_trajectories: mean=9.52s, total=9.52s, count=1, min=9517.8ms, max=9517.8ms
+  physics_step: mean=20.8ms, total=6.19s, count=298, min=14.8ms, max=50.6ms
+  save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3574.4ms, max=3574.4ms
+  task_sampling: mean=407.3ms, total=407.3ms, count=1, min=407.3ms, max=407.3ms
+  task_specific_sample: mean=403.0ms, total=403.0ms, count=1, min=403.0ms, max=403.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=514.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:42:18 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/09 00:42:18 INFO: [Worker 0] Worker 0 house 1 episode 14/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:42:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:42:18 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 00:42:18 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:42:18 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:42:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.975s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:42:19 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.495[m] 81.193[deg]	[grasp_sample.py: 539]
+05/09 00:42:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:42:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:42:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:42:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:42:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:42:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:42:20 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:42:20 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 00:42:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:42:20 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 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002596m	[env.py: 870]
+05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:42:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01847624  0.4141187   0.00259569] yaw=182.4deg	[env.py: 1019]
+05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.16286307  1.06284718  0.00259569] yaw=-137.1deg	[env.py: 1019]
+05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04433921  0.44740523  0.00259569] yaw=-184.9deg	[env.py: 1019]
+05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:42:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=449.7ms, total=449.8ms	[env.py: 1075]
+05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.018, 0.414, 0.003)	[env.py: 1079]
+05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.4 deg	[env.py: 1082]
+05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
+05/09 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:42:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 00:42:20 INFO: [Worker 0] Worker 0 house 1 episode 14/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:42:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.144s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:42:21 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 00:42:21 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:42:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:42:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.975s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:42:22 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.426[m] 88.162[deg]	[grasp_sample.py: 539]
+05/09 00:42:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:42:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:42:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:42:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:43:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:43:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:43:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:43:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:43:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:43:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:43:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:43:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:43:29 INFO: [Worker 0] Worker 0 house 1 episode 14 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:43:49 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:43:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 00:43:49 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
+05/09 00:44:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:44:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:44:01 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.49s (batch: 3.65s, save: 7.84s)	[pipeline.py: 300]
+05/09 00:44:01 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.41s:
+  episode_total: mean=162.81s, total=162.81s, count=1, min=162805.1ms, max=162805.1ms
+  sensor_polling: mean=448.8ms, total=120.72s, count=269, min=375.2ms, max=1026.8ms
+  save_trajectories: mean=7.84s, total=7.84s, count=1, min=7839.3ms, max=7839.3ms
+  physics_step: mean=22.0ms, total=5.92s, count=269, min=13.3ms, max=57.4ms
+  save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3647.0ms, max=3647.0ms
+  task_sampling: mean=410.0ms, total=410.0ms, count=1, min=410.0ms, max=410.0ms
+  task_specific_sample: mean=406.3ms, total=406.3ms, count=1, min=406.3ms, max=406.3ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=372.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:44:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:44:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:44:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:44:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:44:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:44:03 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:44:03 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 00:44:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:44:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037118m	[env.py: 870]
+05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:44:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83328686  0.54258892  0.03711819] yaw=-167.4deg	[env.py: 1019]
+05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.16030959  1.08301396  0.03711819] yaw=-126.7deg	[env.py: 1019]
+05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87269436  0.3013731   0.03711819] yaw=166.4deg	[env.py: 1019]
+05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:44:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.7ms, total=133.7ms	[env.py: 1075]
+05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.543, 0.037)	[env.py: 1079]
+05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg	[env.py: 1082]
+05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
+05/09 00:44:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:44:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:44:04 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 00:44:04 INFO: [Worker 0] Worker 0 house 1 episode 15/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:44:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:44:04 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 00:44:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:44:04 INFO: [Worker 0] Collision-checked 388 grasps in 0.072s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:44:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.349s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:44:05 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.578[m] 88.509[deg]	[grasp_sample.py: 539]
+05/09 00:44:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:44:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:44:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:44:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:44:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:44:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:44:34 INFO: [Worker 0] Worker 0 house 1 episode 15 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:44:40 INFO: [Worker 0] Worker 0 house 1 episode 14 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:44:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:44:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:44:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:44:47 INFO: [Worker 0] Worker 0 house 1 episode 14 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:44:52 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:44:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 00:44:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:44:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:44:59 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:44:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 00:44:59 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/09 00:45:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:45:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:45:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:45:06 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.66s (batch: 4.01s, save: 9.65s)	[pipeline.py: 300]
+05/09 00:45:07 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.34s:
+  episode_total: mean=181.45s, total=181.45s, count=1, min=181447.2ms, max=181447.2ms
+  sensor_polling: mean=450.8ms, total=135.24s, count=300, min=378.7ms, max=870.8ms
+  save_trajectories: mean=9.65s, total=9.65s, count=1, min=9651.3ms, max=9651.3ms
+  physics_step: mean=22.1ms, total=6.64s, count=300, min=15.2ms, max=80.9ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4008.6ms, max=4008.6ms
+  task_sampling: mean=336.0ms, total=336.0ms, count=1, min=336.0ms, max=336.0ms
+  task_specific_sample: mean=332.7ms, total=332.7ms, count=1, min=332.7ms, max=332.7ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=367.2us, 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 00:45:07 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:45:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 00:45:07 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
+05/09 00:45:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:45:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:45:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:45:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:45:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:45:08 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:45:08 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 00:45:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:45:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035078m	[env.py: 870]
+05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:45:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.10116366  0.10441142 -0.03507829] yaw=154.6deg	[env.py: 1019]
+05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.93263304  0.00667685 -0.03507829] yaw=164.4deg	[env.py: 1019]
+05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.07190029  0.86763811 -0.03507829] yaw=-141.9deg	[env.py: 1019]
+05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:45:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.6ms, total=175.7ms	[env.py: 1075]
+05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.101, 0.104, -0.035)	[env.py: 1079]
+05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.6 deg	[env.py: 1082]
+05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.773m	[env.py: 1086]
+05/09 00:45:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:45:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:45:09 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 00:45:09 INFO: [Worker 0] Worker 0 house 1 episode 16/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:45:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:45:09 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 00:45:09 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:45:09 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:45:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.402s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:45:09 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.390[m] 76.015[deg]	[grasp_sample.py: 539]
+05/09 00:45:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:45:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:45:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:45:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:45:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:45:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:45:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.78s (batch: 4.13s, save: 7.66s)	[pipeline.py: 300]
+05/09 00:45:12 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.83s:
+  episode_total: mean=172.14s, total=172.14s, count=1, min=172139.9ms, max=172139.9ms
+  sensor_polling: mean=453.2ms, total=127.79s, count=282, min=381.3ms, max=764.9ms
+  save_trajectories: mean=7.66s, total=7.66s, count=1, min=7656.8ms, max=7656.8ms
+  physics_step: mean=24.0ms, total=6.76s, count=282, min=15.9ms, max=54.3ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4126.5ms, max=4126.5ms
+  task_sampling: mean=829.6ms, total=829.6ms, count=1, min=829.6ms, max=829.6ms
+  task_specific_sample: mean=825.4ms, total=825.4ms, count=1, min=825.4ms, max=825.4ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=520.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=30.1us, 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 00:45:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:45:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:45:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:45:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:45:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:45:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:45:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:45:13 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:45:13 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 00:45:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:45:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005819m	[env.py: 870]
+05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:45:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07187414  0.88401609 -0.00581855] yaw=-153.9deg	[env.py: 1019]
+05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90681781  0.8623779  -0.00581855] yaw=-164.8deg	[env.py: 1019]
+05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94865845  0.11746696 -0.00581855] yaw=156.1deg	[env.py: 1019]
+05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:45:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=68.2ms, total=68.2ms	[env.py: 1075]
+05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.072, 0.884, -0.006)	[env.py: 1079]
+05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.9 deg	[env.py: 1082]
+05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
+05/09 00:45:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:45:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:45:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:45:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:45:14 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 00:45:14 INFO: [Worker 0] Worker 0 house 1 episode 15/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:45:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:45:14 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 00:45:14 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:45:14 INFO: [Worker 0] Collision-checked 388 grasps in 0.089s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:45:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.450s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:45:14 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.538[m] 94.908[deg]	[grasp_sample.py: 539]
+05/09 00:45:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:45:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:45:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:45:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:45:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:45:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.32s (batch: 3.89s, save: 8.43s)	[pipeline.py: 300]
+05/09 00:45:20 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.69s:
+  episode_total: mean=183.50s, total=183.50s, count=1, min=183498.7ms, max=183498.7ms
+  sensor_polling: mean=449.9ms, total=132.73s, count=295, min=396.2ms, max=738.1ms
+  save_trajectories: mean=8.43s, total=8.43s, count=1, min=8430.2ms, max=8430.2ms
+  physics_step: mean=22.4ms, total=6.60s, count=295, min=16.7ms, max=75.5ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3888.7ms, max=3888.7ms
+  task_sampling: mean=686.7ms, total=686.7ms, count=1, min=686.7ms, max=686.7ms
+  task_specific_sample: mean=682.9ms, total=682.9ms, count=1, min=682.9ms, max=682.9ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=433.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:45:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:45:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:45:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:45:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:45:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:45:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:45:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:45:22 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:45:22 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 00:45:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:45:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030770m	[env.py: 870]
+05/09 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:45:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14432391  0.90365172  0.03076998] yaw=-146.3deg	[env.py: 1019]
+05/09 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93146772  0.85003196  0.03076998] yaw=-159.9deg	[env.py: 1019]
+05/09 00:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.16357999  1.01202433  0.03076998] yaw=-131.7deg	[env.py: 1019]
+05/09 00:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:45:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=294.3ms, total=294.4ms	[env.py: 1075]
+05/09 00:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.144, 0.904, 0.031)	[env.py: 1079]
+05/09 00:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.3 deg	[env.py: 1082]
+05/09 00:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
+05/09 00:45:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:45:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:45:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:45:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:45:23 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 00:45:23 INFO: [Worker 0] Worker 0 house 1 episode 15/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:45:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:45:23 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 00:45:23 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:45:23 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:45:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.871s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:45:24 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.472[m] 85.591[deg]	[grasp_sample.py: 539]
+05/09 00:45:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:45:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:45:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:45:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:45:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:46:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:46:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:46:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:46:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:46:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:46:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:46:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:46:28 INFO: [Worker 0] Worker 0 house 1 episode 15 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:46:52 INFO: [Worker 0] Saved videos eagerly for episode 29 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:46:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 00:46:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:47:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:47:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:47:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.97s (batch: 4.04s, save: 7.94s)	[pipeline.py: 300]
+05/09 00:47:05 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.38s:
+  episode_total: mean=181.38s, total=181.38s, count=1, min=181380.4ms, max=181380.4ms
+  sensor_polling: mean=440.4ms, total=132.12s, count=300, min=377.8ms, max=715.9ms
+  save_trajectories: mean=7.94s, total=7.94s, count=1, min=7937.0ms, max=7937.0ms
+  physics_step: mean=21.1ms, total=6.32s, count=300, min=16.6ms, max=37.5ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4037.6ms, max=4037.6ms
+  task_sampling: mean=379.8ms, total=379.8ms, count=1, min=379.8ms, max=379.8ms
+  task_specific_sample: mean=375.9ms, total=375.9ms, count=1, min=375.9ms, max=375.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=435.7us, 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 00:47:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:47:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:47:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:47:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:47:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:47:06 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:47:06 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 00:47:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:47:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048923m	[env.py: 870]
+05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:47:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83921284  0.51359375  0.04892258] yaw=-181.1deg	[env.py: 1019]
+05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.20161166  1.14838783  0.04892258] yaw=-126.1deg	[env.py: 1019]
+05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96177915  0.57374749  0.04892258] yaw=-174.4deg	[env.py: 1019]
+05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:47:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.6ms, total=187.6ms	[env.py: 1075]
+05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.514, 0.049)	[env.py: 1079]
+05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.1 deg	[env.py: 1082]
+05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
+05/09 00:47:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:47:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:47:07 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 00:47:07 INFO: [Worker 0] Worker 0 house 1 episode 16/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:47:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:47:07 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 00:47:07 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:47:07 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:47:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.886s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:47:10 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.559[m] 83.551[deg]	[grasp_sample.py: 539]
+05/09 00:47:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:47:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:47:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:47:23 INFO: [Worker 0] Worker 0 house 1 episode 16 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:47:37 INFO: [Worker 0] Worker 0 house 1 episode 15 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:47:40 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:47:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 00:47:40 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
+05/09 00:47:44 INFO: [Worker 0] Worker 0 house 1 episode 15 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:47:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:47:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:47:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.95s (batch: 3.57s, save: 7.38s)	[pipeline.py: 300]
+05/09 00:47:52 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.43s:
+  episode_total: mean=163.43s, total=163.43s, count=1, min=163432.0ms, max=163432.0ms
+  sensor_polling: mean=460.1ms, total=125.15s, count=272, min=397.4ms, max=657.5ms
+  save_trajectories: mean=7.38s, total=7.38s, count=1, min=7378.1ms, max=7378.1ms
+  physics_step: mean=21.7ms, total=5.90s, count=272, min=13.8ms, max=52.6ms
+  save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3568.5ms, max=3568.5ms
+  task_sampling: mean=425.6ms, total=425.6ms, count=1, min=425.6ms, max=425.6ms
+  task_specific_sample: mean=421.9ms, total=421.9ms, count=1, min=421.9ms, max=421.9ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=436.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:47:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:47:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:47:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:47:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:47:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:47:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:47:53 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 00:47:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:47:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045421m	[env.py: 870]
+05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:47:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01338572  0.2478813  -0.04542145] yaw=163.8deg	[env.py: 1019]
+05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94172742  0.29174878 -0.04542145] yaw=176.3deg	[env.py: 1019]
+05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.09539382  0.08309533 -0.04542145] yaw=144.7deg	[env.py: 1019]
+05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:47:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.8ms, total=140.8ms	[env.py: 1075]
+05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.013, 0.248, -0.045)	[env.py: 1079]
+05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.8 deg	[env.py: 1082]
+05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/09 00:47:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:47:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:47:54 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 00:47:54 INFO: [Worker 0] Worker 0 house 1 episode 17/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:47:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:47:54 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 00:47:54 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:47:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:47:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.422s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:47:54 INFO: [Worker 0] Feasible grasp found 363 (originally 169): w/ 0.478[m] 88.916[deg]	[grasp_sample.py: 539]
+05/09 00:47:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:47:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:47:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:47:56 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:47:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 00:47:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:47:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:48:03 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:48:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 00:48:03 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
+05/09 00:48:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:48:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:48:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:48:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.98s (batch: 3.83s, save: 10.15s)	[pipeline.py: 300]
+05/09 00:48:10 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.35s:
+  episode_total: mean=177.17s, total=177.17s, count=1, min=177170.6ms, max=177170.6ms
+  sensor_polling: mean=444.9ms, total=133.46s, count=300, min=386.0ms, max=649.4ms
+  save_trajectories: mean=10.15s, total=10.15s, count=1, min=10150.5ms, max=10150.5ms
+  physics_step: mean=21.6ms, total=6.49s, count=300, min=13.4ms, max=49.6ms
+  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3829.8ms, max=3829.8ms
+  task_sampling: mean=347.3ms, total=347.3ms, count=1, min=347.3ms, max=347.3ms
+  task_specific_sample: mean=343.7ms, total=343.7ms, count=1, min=343.7ms, max=343.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=420.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 00:48:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:48:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:48:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:48:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:48:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:48:12 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:48:12 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 00:48:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:48:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049790m	[env.py: 870]
+05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:48:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9302764   0.72986793  0.04979023] yaw=-164.4deg	[env.py: 1019]
+05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87658189  0.12625628  0.04979023] yaw=153.6deg	[env.py: 1019]
+05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.99281698  0.39438792  0.04979023] yaw=185.4deg	[env.py: 1019]
+05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:48:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.4ms, total=220.5ms	[env.py: 1075]
+05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.730, 0.050)	[env.py: 1079]
+05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.4 deg	[env.py: 1082]
+05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/09 00:48:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:48:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:48:12 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 00:48:12 INFO: [Worker 0] Worker 0 house 1 episode 16/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:48:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:48:12 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 00:48:12 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:48:12 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:48:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:48:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.623s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:48:13 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.538[m] 91.073[deg]	[grasp_sample.py: 539]
+05/09 00:48:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:48:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:48:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:48:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:48:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:48:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.55s (batch: 4.31s, save: 9.24s)	[pipeline.py: 300]
+05/09 00:48:17 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.59s:
+  episode_total: mean=174.67s, total=174.67s, count=1, min=174673.4ms, max=174673.4ms
+  sensor_polling: mean=449.8ms, total=130.89s, count=291, min=380.0ms, max=752.9ms
+  save_trajectories: mean=9.24s, total=9.24s, count=1, min=9238.9ms, max=9238.9ms
+  physics_step: mean=21.6ms, total=6.28s, count=291, min=16.9ms, max=66.9ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4306.3ms, max=4306.3ms
+  task_sampling: mean=586.8ms, total=586.8ms, count=1, min=586.8ms, max=586.8ms
+  task_specific_sample: mean=582.5ms, total=582.5ms, count=1, min=582.5ms, max=582.5ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=625.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:48:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:48:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:48:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:48:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:48:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:48:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:48:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:48:18 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:48:18 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 00:48:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:48:18 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 00:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000261m	[env.py: 870]
+05/09 00:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:48:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14400572e+00  1.13121799e+00  2.61428110e-04] yaw=-141.0deg	[env.py: 1019]
+05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.31373122e+00  1.00072519e+00  2.61428110e-04] yaw=-124.7deg	[env.py: 1019]
+05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.06436043e+00  1.45409179e-01  2.61428110e-04] yaw=150.8deg	[env.py: 1019]
+05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:48:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.7ms, total=147.7ms	[env.py: 1075]
+05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.144, 1.131, 0.000)	[env.py: 1079]
+05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg	[env.py: 1082]
+05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m	[env.py: 1086]
+05/09 00:48:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:48:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:48:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 00:48:19 INFO: [Worker 0] Worker 0 house 1 episode 16/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:48:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:48:19 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 00:48:19 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:48:19 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:48:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.528s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:48:21 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.615[m] 81.360[deg]	[grasp_sample.py: 539]
+05/09 00:48:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:48:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:48:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:48:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:48:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:48:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:49:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:49:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:49:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:49:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:49:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:49:33 INFO: [Worker 0] Worker 0 house 1 episode 16 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:49:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:49:57 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:49:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 00:49:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:50:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:50:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:50:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.48s (batch: 3.77s, save: 7.71s)	[pipeline.py: 300]
+05/09 00:50:09 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.43s:
+  episode_total: mean=183.00s, total=183.00s, count=1, min=182997.5ms, max=182997.5ms
+  sensor_polling: mean=444.2ms, total=133.26s, count=300, min=374.8ms, max=709.9ms
+  save_trajectories: mean=7.71s, total=7.71s, count=1, min=7711.1ms, max=7711.1ms
+  physics_step: mean=23.5ms, total=7.05s, count=300, min=13.9ms, max=87.6ms
+  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3772.2ms, max=3772.2ms
+  task_sampling: mean=429.4ms, total=429.4ms, count=1, min=429.4ms, max=429.4ms
+  task_specific_sample: mean=425.8ms, total=425.8ms, count=1, min=425.8ms, max=425.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=365.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:50:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:50:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:50:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:50:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:50:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:50:11 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:50:11 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 00:50:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:50:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023918m	[env.py: 870]
+05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:50:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00769094  0.82674589  0.0239177 ] yaw=-154.8deg	[env.py: 1019]
+05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89689941  0.38068545  0.0239177 ] yaw=187.1deg	[env.py: 1019]
+05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.01422911  0.32037986  0.0239177 ] yaw=162.2deg	[env.py: 1019]
+05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:50:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.0ms, total=137.0ms	[env.py: 1075]
+05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.008, 0.827, 0.024)	[env.py: 1079]
+05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.8 deg	[env.py: 1082]
+05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
+05/09 00:50:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:50:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:50:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 00:50:11 INFO: [Worker 0] Worker 0 house 1 episode 17/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:50:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:50:11 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 00:50:11 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:50:11 INFO: [Worker 0] Collision-checked 388 grasps in 0.085s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:50:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.575s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:50:12 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.546[m] 100.706[deg]	[grasp_sample.py: 539]
+05/09 00:50:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:50:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:50:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:50:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:50:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:50:20 INFO: [Worker 0] Worker 0 house 1 episode 17 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:50:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:50:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:50:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:50:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:50:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:50:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:50:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 00:50:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 00:50:29 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 00:50:29 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:50:29 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 352 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:50:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.385s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:50:30 INFO: [Worker 0] Feasible grasp found 344 (originally 150): w/ 0.041[m] 47.274[deg]	[grasp_sample.py: 539]
+05/09 00:50:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:50:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:50:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:50:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:50:39 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:50:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 00:50:39 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/09 00:50:40 INFO: [Worker 0] Worker 0 house 1 episode 16 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:50:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:50:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:50:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:50:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:50:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.83s (batch: 3.96s, save: 7.88s)	[pipeline.py: 300]
+05/09 00:50:52 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.43s:
+  episode_total: mean=178.27s, total=178.27s, count=1, min=178270.2ms, max=178270.2ms
+  sensor_polling: mean=459.7ms, total=134.69s, count=293, min=389.3ms, max=767.9ms
+  save_trajectories: mean=7.88s, total=7.88s, count=1, min=7875.3ms, max=7875.3ms
+  physics_step: mean=25.1ms, total=7.35s, count=293, min=14.2ms, max=68.4ms
+  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3958.4ms, max=3958.4ms
+  task_sampling: mean=428.4ms, total=428.4ms, count=1, min=428.4ms, max=428.4ms
+  task_specific_sample: mean=424.9ms, total=424.9ms, count=1, min=424.9ms, max=424.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=370.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:50:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:50:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:50:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:50:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:50:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:50:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:50:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:50:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:50:53 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 00:50:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:50:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047327m	[env.py: 870]
+05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:50:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07598402  0.4962011  -0.04732691] yaw=-166.3deg	[env.py: 1019]
+05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08374136  0.97274163 -0.04732691] yaw=-153.8deg	[env.py: 1019]
+05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97239974  0.22805869 -0.04732691] yaw=160.0deg	[env.py: 1019]
+05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:50:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.3ms, total=109.3ms	[env.py: 1075]
+05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.076, 0.496, -0.047)	[env.py: 1079]
+05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.3 deg	[env.py: 1082]
+05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.732m	[env.py: 1086]
+05/09 00:50:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:50:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:50:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:50:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:50:53 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 00:50:53 INFO: [Worker 0] Worker 0 house 1 episode 18/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:50:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:50:53 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 00:50:53 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:50:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:50:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.361s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:50:54 INFO: [Worker 0] Feasible grasp found 344 (originally 150): w/ 0.438[m] 87.614[deg]	[grasp_sample.py: 539]
+05/09 00:50:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:50:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:50:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:50:57 INFO: [Worker 0] Worker 0 house 1 episode 16 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/09 00:50:57 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=0.43s:
+  episode_total: mean=158.53s, total=158.53s, count=1, min=158527.3ms, max=158527.3ms
+  sensor_polling: mean=449.3ms, total=134.80s, count=300, min=381.1ms, max=766.2ms
+  physics_step: mean=21.8ms, total=6.53s, count=300, min=14.0ms, max=59.8ms
+  task_sampling: mean=428.7ms, total=428.7ms, count=1, min=428.7ms, max=428.7ms
+  task_specific_sample: mean=425.2ms, total=425.2ms, count=1, min=425.2ms, max=425.2ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=373.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:50:58 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:50:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 00:50:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:50:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:50:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:50:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:50:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:50:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:50:59 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:50:59 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 00:50:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:50:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036826m	[env.py: 870]
+05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:50:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.1922076   0.8635173  -0.03682606] yaw=-151.6deg	[env.py: 1019]
+05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03482198  0.66802002 -0.03682606] yaw=-166.6deg	[env.py: 1019]
+05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:50:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.2ms, total=174.3ms	[env.py: 1075]
+05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.192, 0.864, -0.037)	[env.py: 1079]
+05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.6 deg	[env.py: 1082]
+05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.753m	[env.py: 1086]
+05/09 00:50:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:50:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:50:59 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 00:50:59 INFO: [Worker 0] Worker 0 house 1 episode 17/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:50:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:50:59 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 00:50:59 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:50:59 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:51:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.400s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:51:00 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.439[m] 92.234[deg]	[grasp_sample.py: 539]
+05/09 00:51:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:51:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:51:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:51:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:51:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:51:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:51:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.62s (batch: 3.79s, save: 7.83s)	[pipeline.py: 300]
+05/09 00:51:11 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.47s:
+  episode_total: mean=178.71s, total=178.71s, count=1, min=178709.9ms, max=178709.9ms
+  sensor_polling: mean=455.6ms, total=136.67s, count=300, min=385.2ms, max=741.9ms
+  save_trajectories: mean=7.83s, total=7.83s, count=1, min=7826.0ms, max=7826.0ms
+  physics_step: mean=23.5ms, total=7.06s, count=300, min=13.7ms, max=74.5ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3791.0ms, max=3791.0ms
+  task_sampling: mean=468.4ms, total=468.4ms, count=1, min=468.4ms, max=468.4ms
+  task_specific_sample: mean=464.8ms, total=464.8ms, count=1, min=464.8ms, max=464.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=375.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:51:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:51:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:51:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:51:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:51:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:51:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:51:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:51:12 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:51:12 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 00:51:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:51:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010468m	[env.py: 870]
+05/09 00:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:51:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99602674  0.04175063  0.0104684 ] yaw=164.1deg	[env.py: 1019]
+05/09 00:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.01809275  0.49097139  0.0104684 ] yaw=-165.0deg	[env.py: 1019]
+05/09 00:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:51:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=392.9ms, total=392.9ms	[env.py: 1075]
+05/09 00:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 0.042, 0.010)	[env.py: 1079]
+05/09 00:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.1 deg	[env.py: 1082]
+05/09 00:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
+05/09 00:51:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:51:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:51:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:51:13 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 00:51:13 INFO: [Worker 0] Worker 0 house 1 episode 17/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:51:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:51:13 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 00:51:13 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:51:13 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:51:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:51:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.021s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:51:18 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.544[m] 88.729[deg]	[grasp_sample.py: 539]
+05/09 00:51:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:51:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:51:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:51:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:51:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:51:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:51:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:51:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:51:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:52:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:52:14 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/09 00:52:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 00:52:14 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 00:52:14 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:52:15 INFO: [Worker 0] Collision-checked 388 grasps in 0.102s, found 322 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:52:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.677s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:52:15 INFO: [Worker 0] Feasible grasp found 285 (originally 91): w/ 0.156[m] 4.084[deg]	[grasp_sample.py: 539]
+05/09 00:52:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:52:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:52:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:52:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:52:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:52:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:52:38 INFO: [Worker 0] Worker 0 house 1 episode 17 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:53:02 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:53:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 00:53:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:53:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:53:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:53:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.99s (batch: 3.90s, save: 8.09s)	[pipeline.py: 300]
+05/09 00:53:15 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.42s:
+  episode_total: mean=184.04s, total=184.04s, count=1, min=184037.2ms, max=184037.2ms
+  sensor_polling: mean=451.0ms, total=135.31s, count=300, min=377.4ms, max=881.3ms
+  save_trajectories: mean=8.09s, total=8.09s, count=1, min=8092.4ms, max=8092.4ms
+  physics_step: mean=21.9ms, total=6.58s, count=300, min=16.5ms, max=67.6ms
+  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3896.6ms, max=3896.6ms
+  task_sampling: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms
+  task_specific_sample: mean=416.6ms, total=416.6ms, count=1, min=416.6ms, max=416.6ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=364.6us, 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 00:53:16 INFO: [Worker 0] Worker 0 house 1 episode 18 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:53:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:53:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:53:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:53:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:53:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:53:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:53:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:53:16 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:53:16 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 00:53:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:53:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019673m	[env.py: 870]
+05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:53:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82602319  0.61058071  0.01967315] yaw=-175.0deg	[env.py: 1019]
+05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02229353  0.27343869  0.01967315] yaw=168.8deg	[env.py: 1019]
+05/09 00:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82484439  0.48317782  0.01967315] yaw=-166.3deg	[env.py: 1019]
+05/09 00:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:53:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.7ms, total=166.7ms	[env.py: 1075]
+05/09 00:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.826, 0.611, 0.020)	[env.py: 1079]
+05/09 00:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.0 deg	[env.py: 1082]
+05/09 00:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/09 00:53:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:53:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:53:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:53:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:53:17 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/09 00:53:17 INFO: [Worker 0] Worker 0 house 1 episode 18/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:53:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:53:17 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 00:53:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:53:17 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:53:18 INFO: [Worker 0] Worker 0 house 1 episode 17 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:53:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.885s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:53:19 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.604[m] 86.324[deg]	[grasp_sample.py: 539]
+05/09 00:53:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:53:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:53:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:53:37 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:53:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 00:53:37 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/09 00:53:40 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:53:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 00:53:40 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/09 00:53:46 INFO: [Worker 0] Worker 0 house 1 episode 17 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:53:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:53:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:53:49 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.31s (batch: 3.79s, save: 7.52s)	[pipeline.py: 300]
+05/09 00:53:49 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.36s:
+  episode_total: mean=176.20s, total=176.20s, count=1, min=176195.4ms, max=176195.4ms
+  sensor_polling: mean=459.0ms, total=131.73s, count=287, min=398.1ms, max=740.1ms
+  save_trajectories: mean=7.52s, total=7.52s, count=1, min=7519.7ms, max=7519.7ms
+  physics_step: mean=22.1ms, total=6.33s, count=287, min=14.2ms, max=57.8ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3790.4ms, max=3790.4ms
+  task_sampling: mean=359.4ms, total=359.4ms, count=1, min=359.4ms, max=359.4ms
+  task_specific_sample: mean=356.2ms, total=356.2ms, count=1, min=356.2ms, max=356.2ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=369.8us, 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 00:53:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:53:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:53:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.08s (batch: 3.50s, save: 7.57s)	[pipeline.py: 300]
+05/09 00:53:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:53:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:53:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:53:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:53:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:53:51 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:53:51 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 00:53:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:53:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003052m	[env.py: 870]
+05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:53:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0653967   0.23985883 -0.00305195] yaw=164.6deg	[env.py: 1019]
+05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88377648  0.484985   -0.00305195] yaw=-172.0deg	[env.py: 1019]
+05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96977237  0.37616802 -0.00305195] yaw=171.5deg	[env.py: 1019]
+05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:53:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.2ms, total=152.2ms	[env.py: 1075]
+05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.065, 0.240, -0.003)	[env.py: 1079]
+05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.6 deg	[env.py: 1082]
+05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.762m	[env.py: 1086]
+05/09 00:53:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:53:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:53:51 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 00:53:51 INFO: [Worker 0] Worker 0 house 1 episode 19/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:53:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:53:51 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 00:53:51 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:53:51 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:53:51 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.40s:
+  episode_total: mean=172.72s, total=172.72s, count=1, min=172717.7ms, max=172717.7ms
+  sensor_polling: mean=447.9ms, total=128.55s, count=287, min=388.0ms, max=894.3ms
+  save_trajectories: mean=7.57s, total=7.57s, count=1, min=7574.0ms, max=7574.0ms
+  physics_step: mean=23.8ms, total=6.84s, count=287, min=13.5ms, max=53.4ms
+  save_batch_prep: mean=3.50s, total=3.50s, count=1, min=3501.9ms, max=3501.9ms
+  task_sampling: mean=398.0ms, total=398.0ms, count=1, min=398.0ms, max=398.0ms
+  task_specific_sample: mean=394.8ms, total=394.8ms, count=1, min=394.8ms, max=394.8ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=371.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:53:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.370s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:53:52 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.470[m] 96.169[deg]	[grasp_sample.py: 539]
+05/09 00:53:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:53:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:53:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:53:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:53:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:53:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:53:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:53:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:53:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:53:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:53:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:53:53 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 00:53:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:53:53 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 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043559m	[env.py: 870]
+05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:53:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.08639739  0.10436122 -0.04355925] yaw=154.4deg	[env.py: 1019]
+05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98604088  0.7731123  -0.04355925] yaw=-158.3deg	[env.py: 1019]
+05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.04063631  0.69721218 -0.04355925] yaw=-150.1deg	[env.py: 1019]
+05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:53:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.8ms, total=144.9ms	[env.py: 1075]
+05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.086, 0.104, -0.044)	[env.py: 1079]
+05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.4 deg	[env.py: 1082]
+05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
+05/09 00:53:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:53:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:53:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:53:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:53:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 00:53:53 INFO: [Worker 0] Worker 0 house 1 episode 18/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:53:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:53:53 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 00:53:53 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:53:53 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:53:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.412s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:53:54 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.464[m] 87.336[deg]	[grasp_sample.py: 539]
+05/09 00:53:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:53:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:53:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:54:04 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:54:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 00:54:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:54:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:54:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:54:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:54:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.68s (batch: 3.84s, save: 7.84s)	[pipeline.py: 300]
+05/09 00:54:17 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.72s:
+  episode_total: mean=184.50s, total=184.50s, count=1, min=184501.9ms, max=184501.9ms
+  sensor_polling: mean=456.1ms, total=136.84s, count=300, min=380.3ms, max=783.6ms
+  save_trajectories: mean=7.84s, total=7.84s, count=1, min=7836.6ms, max=7836.6ms
+  physics_step: mean=24.2ms, total=7.26s, count=300, min=16.9ms, max=74.0ms
+  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3843.0ms, max=3843.0ms
+  task_sampling: mean=717.9ms, total=717.9ms, count=1, min=717.9ms, max=717.9ms
+  task_specific_sample: mean=714.5ms, total=714.5ms, count=1, min=714.5ms, max=714.5ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=411.0us, 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 00:54:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:54:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:54:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:54:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:54:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:54:18 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:54:18 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 00:54:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:54:18 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 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039696m	[env.py: 870]
+05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:54:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97365378  0.1971272  -0.03969608] yaw=155.1deg	[env.py: 1019]
+05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09276028  0.51840457 -0.03969608] yaw=-166.1deg	[env.py: 1019]
+05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:54:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.6ms, total=209.6ms	[env.py: 1075]
+05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.974, 0.197, -0.040)	[env.py: 1079]
+05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.1 deg	[env.py: 1082]
+05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
+05/09 00:54:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:54:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:54:19 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 00:54:19 INFO: [Worker 0] Worker 0 house 1 episode 18/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:54:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:54:19 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 00:54:19 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:54:19 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:54:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:54:20 INFO: [Worker 0] Feasible grasp found 328 (originally 134): w/ 0.516[m] 86.406[deg]	[grasp_sample.py: 539]
+05/09 00:54:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:54:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:54:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:54:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:54:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:54:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:54:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:54:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:54:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:54:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:54:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:55:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:55:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:55:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:55:42 INFO: [Worker 0] Worker 0 house 1 episode 18 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:56:06 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:56:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 00:56:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:56:14 INFO: [Worker 0] Worker 0 house 1 episode 18 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:56:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:56:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:56:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.94s (batch: 3.91s, save: 8.03s)	[pipeline.py: 300]
+05/09 00:56:18 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.41s:
+  episode_total: mean=181.94s, total=181.94s, count=1, min=181938.9ms, max=181938.9ms
+  sensor_polling: mean=445.7ms, total=133.72s, count=300, min=383.9ms, max=828.4ms
+  save_trajectories: mean=8.03s, total=8.03s, count=1, min=8025.6ms, max=8025.6ms
+  physics_step: mean=21.7ms, total=6.51s, count=300, min=14.0ms, max=57.8ms
+  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3910.5ms, max=3910.5ms
+  task_sampling: mean=408.5ms, total=408.5ms, count=1, min=408.5ms, max=408.5ms
+  task_specific_sample: mean=405.2ms, total=405.2ms, count=1, min=405.2ms, max=405.2ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=364.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:56:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:56:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:56:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:56:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:56:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:56:20 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:56:20 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 00:56:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:56:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025277m	[env.py: 870]
+05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:56:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82604426  0.4936781   0.02527719] yaw=-166.0deg	[env.py: 1019]
+05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.16460535  0.77626126  0.02527719] yaw=-156.0deg	[env.py: 1019]
+05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87459115  0.40255968  0.02527719] yaw=172.6deg	[env.py: 1019]
+05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:56:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.9ms, total=182.0ms	[env.py: 1075]
+05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.826, 0.494, 0.025)	[env.py: 1079]
+05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.0 deg	[env.py: 1082]
+05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m	[env.py: 1086]
+05/09 00:56:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:56:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:56:20 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 00:56:20 INFO: [Worker 0] Worker 0 house 1 episode 19/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:56:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:56:20 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 00:56:20 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:56:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.083s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:56:23 INFO: [Worker 0] Worker 0 house 1 episode 19 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:56:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.888s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:56:24 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.595[m] 87.113[deg]	[grasp_sample.py: 539]
+05/09 00:56:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:56:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:56:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:56:36 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:56:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 00:56:36 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
+05/09 00:56:43 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:56:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 00:56:43 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/09 00:56:43 INFO: [Worker 0] Worker 0 house 1 episode 18 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:56:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:56:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:56:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.77s (batch: 3.87s, save: 7.90s)	[pipeline.py: 300]
+05/09 00:56:48 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.38s:
+  episode_total: mean=175.23s, total=175.23s, count=1, min=175234.4ms, max=175234.4ms
+  sensor_polling: mean=452.8ms, total=130.87s, count=289, min=387.0ms, max=887.7ms
+  save_trajectories: mean=7.90s, total=7.90s, count=1, min=7904.2ms, max=7904.2ms
+  physics_step: mean=21.4ms, total=6.19s, count=289, min=13.7ms, max=55.0ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3865.8ms, max=3865.8ms
+  task_sampling: mean=383.0ms, total=383.0ms, count=1, min=383.0ms, max=383.0ms
+  task_specific_sample: mean=379.5ms, total=379.5ms, count=1, min=379.5ms, max=379.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=371.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:56:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:56:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:56:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:56:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:56:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:56:50 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:56:50 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 00:56:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:56:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033897m	[env.py: 870]
+05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:56:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00157984  0.08051028  0.03389723] yaw=162.2deg	[env.py: 1019]
+05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90414435  0.75219749  0.03389723] yaw=-159.1deg	[env.py: 1019]
+05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9655365   0.62149311  0.03389723] yaw=-167.5deg	[env.py: 1019]
+05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:56:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=72.0ms, total=72.0ms	[env.py: 1075]
+05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.002, 0.081, 0.034)	[env.py: 1079]
+05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.2 deg	[env.py: 1082]
+05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m	[env.py: 1086]
+05/09 00:56:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:56:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:56:50 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 00:56:50 INFO: [Worker 0] Worker 0 house 1 episode 19/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:56:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:56:50 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 00:56:50 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:56:50 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:56:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.429s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:56:51 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.507[m] 94.084[deg]	[grasp_sample.py: 539]
+05/09 00:56:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:56:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:56:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:56:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:56:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:56:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.95s (batch: 3.85s, save: 8.10s)	[pipeline.py: 300]
+05/09 00:56:56 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.40s:
+  episode_total: mean=185.12s, total=185.12s, count=1, min=185117.1ms, max=185117.1ms
+  sensor_polling: mean=456.2ms, total=133.66s, count=293, min=384.8ms, max=707.9ms
+  save_trajectories: mean=8.10s, total=8.10s, count=1, min=8100.4ms, max=8100.4ms
+  physics_step: mean=21.8ms, total=6.39s, count=293, min=13.6ms, max=41.8ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3849.6ms, max=3849.6ms
+  task_sampling: mean=401.2ms, total=401.2ms, count=1, min=401.2ms, max=401.2ms
+  task_specific_sample: mean=397.8ms, total=397.8ms, count=1, min=397.8ms, max=397.8ms
+  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=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:56:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:56:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:56:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:56:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:56:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:56:57 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:56:57 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 00:56:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:56:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042945m	[env.py: 870]
+05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:56:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05228696  0.42584999 -0.04294458] yaw=-174.5deg	[env.py: 1019]
+05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90538339  0.7650892  -0.04294458] yaw=-154.0deg	[env.py: 1019]
+05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.11747894  0.12876876 -0.04294458] yaw=146.1deg	[env.py: 1019]
+05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:56:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.1ms, total=131.1ms	[env.py: 1075]
+05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.052, 0.426, -0.043)	[env.py: 1079]
+05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.5 deg	[env.py: 1082]
+05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m	[env.py: 1086]
+05/09 00:56:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:56:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:56:58 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 00:56:58 INFO: [Worker 0] Worker 0 house 1 episode 20/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:56:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:56:58 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 00:56:58 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:56:58 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:56:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.379s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:56:58 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.444[m] 86.878[deg]	[grasp_sample.py: 539]
+05/09 00:56:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:56:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:56:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:57:02 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:57:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 00:57:02 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/09 00:57:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:57:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:57:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.84s (batch: 3.83s, save: 8.02s)	[pipeline.py: 300]
+05/09 00:57:14 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.71s:
+  episode_total: mean=175.92s, total=175.92s, count=1, min=175921.5ms, max=175921.5ms
+  sensor_polling: mean=446.6ms, total=133.52s, count=299, min=364.0ms, max=718.9ms
+  save_trajectories: mean=8.02s, total=8.02s, count=1, min=8017.0ms, max=8017.0ms
+  physics_step: mean=22.9ms, total=6.83s, count=299, min=17.1ms, max=80.5ms
+  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3827.3ms, max=3827.3ms
+  task_sampling: mean=711.5ms, total=711.5ms, count=1, min=711.5ms, max=711.5ms
+  task_specific_sample: mean=708.0ms, total=708.0ms, count=1, min=708.0ms, max=708.0ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=373.8us, 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 00:57:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:57:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:57:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:57:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:57:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:57:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:57:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:57:16 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:57:16 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 00:57:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:57:16 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 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028006m	[env.py: 870]
+05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:57:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83944422  0.33065751  0.02800597] yaw=165.9deg	[env.py: 1019]
+05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01727642  0.25624014  0.02800597] yaw=161.8deg	[env.py: 1019]
+05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:57:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=140.5ms, total=140.5ms	[env.py: 1075]
+05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.331, 0.028)	[env.py: 1079]
+05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.9 deg	[env.py: 1082]
+05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m	[env.py: 1086]
+05/09 00:57:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:57:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:57:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:57:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:57:16 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 00:57:16 INFO: [Worker 0] Worker 0 house 1 episode 19/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:57:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:57:16 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 00:57:16 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:57:16 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:57:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:57:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.931s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:57:18 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.602[m] 91.214[deg]	[grasp_sample.py: 539]
+05/09 00:57:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:57:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:57:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:57:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:57:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:57:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:57:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:57:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:57:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:57:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:57:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:58:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:58:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:58:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:58:45 INFO: [Worker 0] Worker 0 house 1 episode 19 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:59:09 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:59:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 00:59:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:59:16 INFO: [Worker 0] Worker 0 house 1 episode 19 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:59:19 INFO: [Worker 0] Worker 0 house 1 episode 20 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:59:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:59:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:59:21 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.62s (batch: 3.76s, save: 7.87s)	[pipeline.py: 300]
+05/09 00:59:22 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.47s:
+  episode_total: mean=181.74s, total=181.74s, count=1, min=181735.6ms, max=181735.6ms
+  sensor_polling: mean=439.2ms, total=131.76s, count=300, min=384.7ms, max=824.6ms
+  save_trajectories: mean=7.87s, total=7.87s, count=1, min=7865.8ms, max=7865.8ms
+  physics_step: mean=20.4ms, total=6.13s, count=300, min=16.5ms, max=56.6ms
+  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3756.6ms, max=3756.6ms
+  task_sampling: mean=472.7ms, total=472.7ms, count=1, min=472.7ms, max=472.7ms
+  task_specific_sample: mean=468.2ms, total=468.2ms, count=1, min=468.2ms, max=468.2ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=508.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.0us, 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 00:59:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:59:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:59:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:59:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:59:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:59:23 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:59:23 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 00:59:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:59:23 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 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010934m	[env.py: 870]
+05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:59:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96494605  0.55435418 -0.01093392] yaw=-174.1deg	[env.py: 1019]
+05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86575317  0.70092593 -0.01093392] yaw=-154.0deg	[env.py: 1019]
+05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08480605  1.08510588 -0.01093392] yaw=-146.2deg	[env.py: 1019]
+05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:59:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.5ms, total=133.5ms	[env.py: 1075]
+05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.554, -0.011)	[env.py: 1079]
+05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.1 deg	[env.py: 1082]
+05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
+05/09 00:59:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:59:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:59:23 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 00:59:23 INFO: [Worker 0] Worker 0 house 1 episode 20/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:59:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:59:23 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 00:59:23 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:59:24 INFO: [Worker 0] Collision-checked 388 grasps in 0.061s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:59:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.410s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:59:24 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.494[m] 88.989[deg]	[grasp_sample.py: 539]
+05/09 00:59:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:59:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:59:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:59:39 INFO: [Worker 0] Saved videos eagerly for episode 36 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:59:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 00:59:39 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/09 00:59:39 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:59:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 00:59:39 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/09 00:59:44 INFO: [Worker 0] Worker 0 house 1 episode 19 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:59:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:59:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:59:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.20s (batch: 3.75s, save: 7.45s)	[pipeline.py: 300]
+05/09 00:59:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:59:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:59:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.45s (batch: 3.79s, save: 7.66s)	[pipeline.py: 300]
+05/09 00:59:51 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.38s:
+  episode_total: mean=173.98s, total=173.98s, count=1, min=173981.9ms, max=173981.9ms
+  sensor_polling: mean=457.0ms, total=130.69s, count=286, min=389.1ms, max=771.8ms
+  save_trajectories: mean=7.45s, total=7.45s, count=1, min=7445.3ms, max=7445.3ms
+  physics_step: mean=22.4ms, total=6.40s, count=286, min=14.3ms, max=63.2ms
+  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3753.9ms, max=3753.9ms
+  task_sampling: mean=380.5ms, total=380.5ms, count=1, min=380.5ms, max=380.5ms
+  task_specific_sample: mean=377.0ms, total=377.0ms, count=1, min=377.0ms, max=377.0ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=400.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:59:51 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.33s:
+  episode_total: mean=181.86s, total=181.86s, count=1, min=181860.8ms, max=181860.8ms
+  sensor_polling: mean=458.6ms, total=136.21s, count=297, min=394.2ms, max=1051.5ms
+  save_trajectories: mean=7.66s, total=7.66s, count=1, min=7663.4ms, max=7663.4ms
+  physics_step: mean=22.0ms, total=6.54s, count=297, min=13.7ms, max=86.8ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3789.8ms, max=3789.8ms
+  task_sampling: mean=327.8ms, total=327.8ms, count=1, min=327.8ms, max=327.8ms
+  task_specific_sample: mean=324.4ms, total=324.4ms, count=1, min=324.4ms, max=324.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=394.6us, 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 00:59:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:59:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:59:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:59:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:59:53 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 00:59:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:59:53 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 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001939m	[env.py: 870]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:59:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98196708  0.34207215  0.00193925] yaw=177.2deg	[env.py: 1019]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.1152277   0.24985356  0.00193925] yaw=171.5deg	[env.py: 1019]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:59:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:59:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:59:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:59:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:59:53 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 00:59:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:59:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023359m	[env.py: 870]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:59:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:59:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=232.2ms, total=232.2ms	[env.py: 1075]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.342, 0.002)	[env.py: 1079]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.2 deg	[env.py: 1082]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
+05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03602844  0.38036867  0.02335852] yaw=170.8deg	[env.py: 1019]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86823771  0.09231352  0.02335852] yaw=160.0deg	[env.py: 1019]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:59:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=265.5ms, total=265.5ms	[env.py: 1075]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.036, 0.380, 0.023)	[env.py: 1079]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.8 deg	[env.py: 1082]
+05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.770m	[env.py: 1086]
+05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:59:53 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 00:59:53 INFO: [Worker 0] Worker 0 house 1 episode 21/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:59:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:59:53 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 00:59:53 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:59:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.083s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:59:54 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 00:59:54 INFO: [Worker 0] Worker 0 house 1 episode 20/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:59:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:59:54 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 00:59:54 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:59:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:59:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.430s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:59:54 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.487[m] 97.003[deg]	[grasp_sample.py: 539]
+05/09 00:59:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:59:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.357s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:59:54 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.359[m] 80.605[deg]	[grasp_sample.py: 539]
+05/09 00:59:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:59:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:59:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:59:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:59:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:00:03 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:00:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 01:00:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:00:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:00:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:00:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:00:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.64s (batch: 3.85s, save: 7.79s)	[pipeline.py: 300]
+05/09 01:00:15 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.39s:
+  episode_total: mean=179.42s, total=179.42s, count=1, min=179422.3ms, max=179422.3ms
+  sensor_polling: mean=452.2ms, total=135.67s, count=300, min=362.9ms, max=742.2ms
+  save_trajectories: mean=7.79s, total=7.79s, count=1, min=7790.0ms, max=7790.0ms
+  physics_step: mean=22.3ms, total=6.69s, count=300, min=16.8ms, max=60.4ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3850.7ms, max=3850.7ms
+  task_sampling: mean=391.4ms, total=391.4ms, count=1, min=391.4ms, max=391.4ms
+  task_specific_sample: mean=388.0ms, total=388.0ms, count=1, min=388.0ms, max=388.0ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=369.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:00:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:00:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:00:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:00:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:00:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:00:17 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:00:17 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 01:00:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:00:17 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 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044303m	[env.py: 870]
+05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:00:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99385878  0.1547187  -0.04430277] yaw=154.9deg	[env.py: 1019]
+05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91930747  0.39841813 -0.04430277] yaw=184.6deg	[env.py: 1019]
+05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10546296  0.17871097 -0.04430277] yaw=151.9deg	[env.py: 1019]
+05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:00:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.0ms, total=139.0ms	[env.py: 1075]
+05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.994, 0.155, -0.044)	[env.py: 1079]
+05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.9 deg	[env.py: 1082]
+05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m	[env.py: 1086]
+05/09 01:00:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:00:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:00:17 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 01:00:17 INFO: [Worker 0] Worker 0 house 1 episode 20/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:00:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:00:17 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 01:00:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:00:17 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:00:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.499s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:00:18 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.517[m] 90.093[deg]	[grasp_sample.py: 539]
+05/09 01:00:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:00:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:00:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:00:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:00:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:00:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:00:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:00:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:00:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:00:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:00:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:01:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:01:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:01:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:01:45 INFO: [Worker 0] Worker 0 house 1 episode 20 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:02:04 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:02:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 01:02:04 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
+05/09 01:02:04 INFO: [Worker 0] Worker 0 house 1 episode 20 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:02:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:02:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:02:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.17s (batch: 4.09s, save: 11.08s)	[pipeline.py: 300]
+05/09 01:02:20 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.38s:
+  episode_total: mean=176.65s, total=176.65s, count=1, min=176645.0ms, max=176645.0ms
+  sensor_polling: mean=444.0ms, total=131.43s, count=296, min=374.5ms, max=693.2ms
+  save_trajectories: mean=11.08s, total=11.08s, count=1, min=11084.6ms, max=11084.6ms
+  physics_step: mean=21.0ms, total=6.22s, count=296, min=13.3ms, max=49.8ms
+  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4089.1ms, max=4089.1ms
+  task_sampling: mean=377.0ms, total=377.0ms, count=1, min=377.0ms, max=377.0ms
+  task_specific_sample: mean=373.5ms, total=373.5ms, count=1, min=373.5ms, max=373.5ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=368.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:02:21 INFO: [Worker 0] Worker 0 house 1 episode 21 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:02:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:02:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:02:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:02:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:02:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:02:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:02:21 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 01:02:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:02:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030523m	[env.py: 870]
+05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:02:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.26717304  1.02074096  0.03052252] yaw=-128.7deg	[env.py: 1019]
+05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.15734836  0.88102301  0.03052252] yaw=-142.2deg	[env.py: 1019]
+05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:02:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.2ms, total=216.2ms	[env.py: 1075]
+05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.267, 1.021, 0.031)	[env.py: 1079]
+05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.7 deg	[env.py: 1082]
+05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m	[env.py: 1086]
+05/09 01:02:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:02:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:02:22 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 01:02:22 INFO: [Worker 0] Worker 0 house 1 episode 21/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:02:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:02:22 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 01:02:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:02:22 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:02:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.423s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:02:22 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.373[m] 74.337[deg]	[grasp_sample.py: 539]
+05/09 01:02:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:02:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:02:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:02:27 INFO: [Worker 0] Saved videos eagerly for episode 37 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:02:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 01:02:27 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/09 01:02:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:02:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:02:38 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.05s (batch: 3.65s, save: 7.40s)	[pipeline.py: 300]
+05/09 01:02:38 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.53s:
+  episode_total: mean=165.43s, total=165.43s, count=1, min=165429.4ms, max=165429.4ms
+  sensor_polling: mean=449.7ms, total=119.61s, count=266, min=390.8ms, max=761.3ms
+  save_trajectories: mean=7.40s, total=7.40s, count=1, min=7403.1ms, max=7403.1ms
+  physics_step: mean=22.2ms, total=5.90s, count=266, min=13.6ms, max=62.6ms
+  save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3650.7ms, max=3650.7ms
+  task_sampling: mean=532.7ms, total=532.7ms, count=1, min=532.7ms, max=532.7ms
+  task_specific_sample: mean=528.5ms, total=528.5ms, count=1, min=528.5ms, max=528.5ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=509.6us, 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 01:02:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:02:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:02:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:02:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:02:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:02:40 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:02:40 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 01:02:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:02:40 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 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008832m	[env.py: 870]
+05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:02:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.19224817  0.84301253 -0.00883178] yaw=-138.0deg	[env.py: 1019]
+05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.17268658  0.88772454 -0.00883178] yaw=-147.8deg	[env.py: 1019]
+05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99037732  0.37779393 -0.00883178] yaw=172.3deg	[env.py: 1019]
+05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:02:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.4ms, total=162.4ms	[env.py: 1075]
+05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.192, 0.843, -0.009)	[env.py: 1079]
+05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.0 deg	[env.py: 1082]
+05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.741m	[env.py: 1086]
+05/09 01:02:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:02:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:02:40 INFO: [Worker 0] Saved videos eagerly for episode 36 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:02:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 01:02:40 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/09 01:02:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 01:02:40 INFO: [Worker 0] Worker 0 house 1 episode 21/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:02:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:02:41 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 01:02:41 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:02:41 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:02:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:02:41 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.349[m] 85.689[deg]	[grasp_sample.py: 539]
+05/09 01:02:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:02:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:02:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:02:43 INFO: [Worker 0] Worker 0 house 1 episode 20 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:02:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:02:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:02:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.35s (batch: 4.80s, save: 8.55s)	[pipeline.py: 300]
+05/09 01:02:55 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.52s:
+  episode_total: mean=181.76s, total=181.76s, count=1, min=181756.0ms, max=181756.0ms
+  sensor_polling: mean=448.5ms, total=133.20s, count=297, min=389.2ms, max=695.2ms
+  save_trajectories: mean=8.55s, total=8.55s, count=1, min=8549.5ms, max=8549.5ms
+  physics_step: mean=24.1ms, total=7.17s, count=297, min=13.5ms, max=61.5ms
+  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4803.6ms, max=4803.6ms
+  task_sampling: mean=521.3ms, total=521.3ms, count=1, min=521.3ms, max=521.3ms
+  task_specific_sample: mean=517.7ms, total=517.7ms, count=1, min=517.7ms, max=517.7ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=526.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:02:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:02:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:02:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:02:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:02:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:02:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:02:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:02:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:02:56 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:02:56 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 01:02:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:02:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019361m	[env.py: 870]
+05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:02:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0690791   0.60795389  0.01936076] yaw=-164.2deg	[env.py: 1019]
+05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11581941  0.27629362  0.01936076] yaw=174.5deg	[env.py: 1019]
+05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.05635679  0.51403172  0.01936076] yaw=-175.9deg	[env.py: 1019]
+05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:02:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.4ms, total=150.4ms	[env.py: 1075]
+05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.069, 0.608, 0.019)	[env.py: 1079]
+05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.2 deg	[env.py: 1082]
+05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.758m	[env.py: 1086]
+05/09 01:02:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:02:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:02:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:02:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:02:56 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 01:02:56 INFO: [Worker 0] Worker 0 house 1 episode 22/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:02:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:02:57 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 01:02:57 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:02:57 INFO: [Worker 0] Collision-checked 388 grasps in 0.078s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:02:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.368s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:02:57 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.426[m] 92.424[deg]	[grasp_sample.py: 539]
+05/09 01:02:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:02:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:02:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:03:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:03:04 INFO: [Worker 0] Saved videos eagerly for episode 36 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:03:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 01:03:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:03:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:03:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:03:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:03:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:03:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.84s (batch: 3.89s, save: 7.95s)	[pipeline.py: 300]
+05/09 01:03:16 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.39s:
+  episode_total: mean=179.78s, total=179.78s, count=1, min=179775.7ms, max=179775.7ms
+  sensor_polling: mean=451.5ms, total=135.45s, count=300, min=371.8ms, max=653.0ms
+  save_trajectories: mean=7.95s, total=7.95s, count=1, min=7952.9ms, max=7952.9ms
+  physics_step: mean=21.9ms, total=6.56s, count=300, min=14.3ms, max=65.4ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3890.1ms, max=3890.1ms
+  task_sampling: mean=388.3ms, total=388.3ms, count=1, min=388.3ms, max=388.3ms
+  task_specific_sample: mean=384.9ms, total=384.9ms, count=1, min=384.9ms, max=384.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=364.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:03:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:03:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:03:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:03:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:03:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:03:18 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:03:18 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 01:03:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:03:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011614m	[env.py: 870]
+05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:03:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.21321928  1.09167594 -0.01161353] yaw=-126.7deg	[env.py: 1019]
+05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05678696  0.31067432 -0.01161353] yaw=162.5deg	[env.py: 1019]
+05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96234973  0.3163606  -0.01161353] yaw=170.3deg	[env.py: 1019]
+05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:03:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=63.7ms, total=63.7ms	[env.py: 1075]
+05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.213, 1.092, -0.012)	[env.py: 1079]
+05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.7 deg	[env.py: 1082]
+05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
+05/09 01:03:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:03:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:03:18 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 01:03:18 INFO: [Worker 0] Worker 0 house 1 episode 21/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:03:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:03:18 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 01:03:18 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:03:18 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:03:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:03:19 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.578[m] 96.504[deg]	[grasp_sample.py: 539]
+05/09 01:03:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:03:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:03:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:03:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:03:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:03:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:03:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:03:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:04:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:04:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:04:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:04:28 INFO: [Worker 0] Worker 0 house 1 episode 21 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:04:50 INFO: [Worker 0] Worker 0 house 1 episode 21 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:04:51 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:04:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 01:04:51 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/09 01:05:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:05:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:05:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.97s (batch: 3.79s, save: 7.18s)	[pipeline.py: 300]
+05/09 01:05:03 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.48s:
+  episode_total: mean=161.73s, total=161.73s, count=1, min=161730.1ms, max=161730.1ms
+  sensor_polling: mean=439.2ms, total=117.70s, count=268, min=379.9ms, max=806.9ms
+  save_trajectories: mean=7.18s, total=7.18s, count=1, min=7178.1ms, max=7178.1ms
+  physics_step: mean=21.2ms, total=5.67s, count=268, min=14.4ms, max=57.7ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3790.9ms, max=3790.9ms
+  task_sampling: mean=476.3ms, total=476.3ms, count=1, min=476.3ms, max=476.3ms
+  task_specific_sample: mean=473.2ms, total=473.2ms, count=1, min=473.2ms, max=473.2ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=371.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:05:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:05:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:05:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:05:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:05:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:05:04 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:05:04 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 01:05:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:05:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.023m, effective arm-mount z=0.837m (base_body_z=-0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.022765m	[env.py: 870]
+05/09 01:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:05:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02807058  0.42169132 -0.02276471] yaw=188.1deg	[env.py: 1019]
+05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92397236  0.54960199 -0.02276471] yaw=-171.8deg	[env.py: 1019]
+05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.1832342   1.03536603 -0.02276471] yaw=-143.1deg	[env.py: 1019]
+05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:05:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.7ms, total=167.8ms	[env.py: 1075]
+05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.028, 0.422, -0.023)	[env.py: 1079]
+05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.1 deg	[env.py: 1082]
+05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m	[env.py: 1086]
+05/09 01:05:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:05:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:05:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:05:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:05:05 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 01:05:05 INFO: [Worker 0] Worker 0 house 1 episode 22/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:05:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:05:05 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 01:05:05 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:05:05 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:05:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.409s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:05:05 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.490[m] 94.228[deg]	[grasp_sample.py: 539]
+05/09 01:05:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:05:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:05:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:05:08 INFO: [Worker 0] Saved videos eagerly for episode 38 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:05:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 01:05:08 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/09 01:05:14 INFO: [Worker 0] Worker 0 house 1 episode 22 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:05:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:05:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:05:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.43s (batch: 4.17s, save: 10.26s)	[pipeline.py: 300]
+05/09 01:05:23 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.44s:
+  episode_total: mean=162.88s, total=162.88s, count=1, min=162884.8ms, max=162884.8ms
+  sensor_polling: mean=449.6ms, total=120.48s, count=268, min=387.6ms, max=820.7ms
+  save_trajectories: mean=10.26s, total=10.26s, count=1, min=10264.3ms, max=10264.3ms
+  physics_step: mean=21.9ms, total=5.87s, count=268, min=15.9ms, max=42.6ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4165.5ms, max=4165.5ms
+  task_sampling: mean=436.3ms, total=436.3ms, count=1, min=436.3ms, max=436.3ms
+  task_specific_sample: mean=432.1ms, total=432.1ms, count=1, min=432.1ms, max=432.1ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=513.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:05:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:05:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:05:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:05:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:05:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:05:25 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:05:25 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 01:05:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:05:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023793m	[env.py: 870]
+05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:05:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16954976  1.11906944  0.02379266] yaw=-124.2deg	[env.py: 1019]
+05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.10530984  0.7301334   0.02379266] yaw=-147.6deg	[env.py: 1019]
+05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.20150849  1.06018049  0.02379266] yaw=-124.0deg	[env.py: 1019]
+05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:05:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.1ms, total=95.1ms	[env.py: 1075]
+05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.170, 1.119, 0.024)	[env.py: 1079]
+05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.2 deg	[env.py: 1082]
+05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/09 01:05:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:05:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:05:25 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 01:05:25 INFO: [Worker 0] Worker 0 house 1 episode 22/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:05:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:05:25 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 01:05:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:05:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:05:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.456s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:05:27 INFO: [Worker 0] Feasible grasp found 149 (originally 149): w/ 0.577[m] 81.738[deg]	[grasp_sample.py: 539]
+05/09 01:05:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:05:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:05:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:05:35 INFO: [Worker 0] Saved videos eagerly for episode 37 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:05:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 01:05:35 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/09 01:05:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:05:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:05:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:05:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:05:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:05:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:05:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:05:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:05:48 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.69s (batch: 3.66s, save: 9.02s)	[pipeline.py: 300]
+05/09 01:05:48 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.42s:
+  episode_total: mean=172.23s, total=172.23s, count=1, min=172232.6ms, max=172232.6ms
+  sensor_polling: mean=447.9ms, total=126.76s, count=283, min=378.1ms, max=705.0ms
+  save_trajectories: mean=9.02s, total=9.02s, count=1, min=9024.1ms, max=9024.1ms
+  physics_step: mean=22.4ms, total=6.35s, count=283, min=14.4ms, max=62.3ms
+  save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3662.1ms, max=3662.1ms
+  task_sampling: mean=416.8ms, total=416.8ms, count=1, min=416.8ms, max=416.8ms
+  task_specific_sample: mean=412.0ms, total=412.0ms, count=1, min=412.0ms, max=412.0ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=567.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:05:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:05:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:05:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:05:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:05:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:05:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:05:50 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:05:50 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 01:05:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:05:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025017m	[env.py: 870]
+05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:05:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.13553705  0.85003797 -0.0250171 ] yaw=-152.1deg	[env.py: 1019]
+05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.12156383  0.92048615 -0.0250171 ] yaw=-140.7deg	[env.py: 1019]
+05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.11367953  0.63915231 -0.0250171 ] yaw=-155.8deg	[env.py: 1019]
+05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:05:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.9ms, total=123.9ms	[env.py: 1075]
+05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.136, 0.850, -0.025)	[env.py: 1079]
+05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg	[env.py: 1082]
+05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m	[env.py: 1086]
+05/09 01:05:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:05:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:05:50 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 01:05:50 INFO: [Worker 0] Worker 0 house 1 episode 23/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:05:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:05:50 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 01:05:50 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:05:51 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:05:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:05:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 01:05:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 01:05:51 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 01:05:51 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:05:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.446s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:05:51 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.442[m] 89.915[deg]	[grasp_sample.py: 539]
+05/09 01:05:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:05:51 INFO: [Worker 0] Collision-checked 388 grasps in 0.095s, found 322 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:05:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:05:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:05:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.393s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:05:52 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.046[m] 0.400[deg]	[grasp_sample.py: 539]
+05/09 01:05:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:05:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:05:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:05:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:05:56 INFO: [Worker 0] Worker 0 house 1 episode 21 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:06:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:06:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:06:14 INFO: [Worker 0] Saved videos eagerly for episode 37 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:06:14 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 01:06:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:06:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:06:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:06:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:06:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.14s (batch: 3.94s, save: 8.20s)	[pipeline.py: 300]
+05/09 01:06:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:06:27 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.32s:
+  episode_total: mean=189.20s, total=189.20s, count=1, min=189198.8ms, max=189198.8ms
+  sensor_polling: mean=449.7ms, total=134.90s, count=300, min=389.1ms, max=690.4ms
+  save_trajectories: mean=8.20s, total=8.20s, count=1, min=8204.2ms, max=8204.2ms
+  physics_step: mean=21.7ms, total=6.51s, count=300, min=13.4ms, max=49.2ms
+  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3938.0ms, max=3938.0ms
+  task_sampling: mean=320.8ms, total=320.8ms, count=1, min=320.8ms, max=320.8ms
+  task_specific_sample: mean=317.7ms, total=317.7ms, count=1, min=317.7ms, max=317.7ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=377.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:06:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:06:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:06:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:06:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:06:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:06:29 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:06:29 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 01:06:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:06:29 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 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009186m	[env.py: 870]
+05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:06:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82354391  0.31784061 -0.00918617] yaw=166.3deg	[env.py: 1019]
+05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.18872854  0.84482553 -0.00918617] yaw=-141.4deg	[env.py: 1019]
+05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.05381285  0.30466961 -0.00918617] yaw=181.1deg	[env.py: 1019]
+05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:06:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.6ms, total=157.6ms	[env.py: 1075]
+05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.824, 0.318, -0.009)	[env.py: 1079]
+05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.3 deg	[env.py: 1082]
+05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
+05/09 01:06:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:06:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:06:29 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 01:06:29 INFO: [Worker 0] Worker 0 house 1 episode 22/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:06:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:06:29 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 01:06:29 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:06:29 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:06:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.480s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:06:30 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.651[m] 95.010[deg]	[grasp_sample.py: 539]
+05/09 01:06:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:06:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:06:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:06:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:06:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:06:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:06:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:07:28 INFO: [Worker 0] Worker 0 house 1 episode 22 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:07:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:07:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:07:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:07:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:07:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:07:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:07:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:07:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:07:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:07:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:07:52 INFO: [Worker 0] Saved videos eagerly for episode 36 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:07:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 01:07:52 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
+05/09 01:07:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:07:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 01:07:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 01:07:53 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 01:07:53 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:07:53 INFO: [Worker 0] Collision-checked 388 grasps in 0.094s, found 322 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:07:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.475s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:07:55 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.058[m] 7.307[deg]	[grasp_sample.py: 539]
+05/09 01:07:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:07:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:07:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:07:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:08:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:08:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:08:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:08:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:08:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:08:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.62s (batch: 3.84s, save: 7.78s)	[pipeline.py: 300]
+05/09 01:08:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:08:05 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.45s:
+  episode_total: mean=180.09s, total=180.09s, count=1, min=180092.2ms, max=180092.2ms
+  sensor_polling: mean=449.3ms, total=132.98s, count=296, min=393.2ms, max=911.7ms
+  save_trajectories: mean=7.78s, total=7.78s, count=1, min=7779.1ms, max=7779.1ms
+  physics_step: mean=20.9ms, total=6.20s, count=296, min=15.7ms, max=51.7ms
+  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3841.8ms, max=3841.8ms
+  task_sampling: mean=449.2ms, total=449.2ms, count=1, min=449.2ms, max=449.2ms
+  task_specific_sample: mean=445.6ms, total=445.6ms, count=1, min=445.6ms, max=445.6ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=368.0us, 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 01:08:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:08:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:08:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:08:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:08:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:08:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:08:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:08:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:08:06 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:08:06 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 01:08:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:08:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003444m	[env.py: 870]
+05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:08:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86874399  0.39580759 -0.00344355] yaw=186.4deg	[env.py: 1019]
+05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90521468  0.60569725 -0.00344355] yaw=-173.7deg	[env.py: 1019]
+05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8818796   0.29337098 -0.00344355] yaw=176.1deg	[env.py: 1019]
+05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:08:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.3ms, total=101.3ms	[env.py: 1075]
+05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.396, -0.003)	[env.py: 1079]
+05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.4 deg	[env.py: 1082]
+05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
+05/09 01:08:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:08:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:08:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:08:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:08:07 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 01:08:07 INFO: [Worker 0] Worker 0 house 1 episode 23/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:08:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:08:07 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 01:08:07 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:08:07 INFO: [Worker 0] Collision-checked 388 grasps in 0.089s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:08:07 INFO: [Worker 0] Worker 0 house 1 episode 23 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:08:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:08:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.419s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:08:08 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.544[m] 88.564[deg]	[grasp_sample.py: 539]
+05/09 01:08:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:08:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:08:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 01:08:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 01:08:08 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 01:08:08 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:08:09 INFO: [Worker 0] Collision-checked 388 grasps in 0.063s, found 344 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:08:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:08:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:08:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.461s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:08:11 INFO: [Worker 0] Feasible grasp found 26 (originally 26): w/ 0.217[m] 2.973[deg]	[grasp_sample.py: 539]
diff --git a/fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5 b/fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5
index 7b7c715747c48238f2048a2bada9221a8b84c0f6..43fc3f2bca9a280685e8ae8e9ade8ad47d0b294e 100644
--- a/fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5
+++ b/fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5
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index dd0ce7ad73a375bee80e348affe63b111a152e65..9e92facb5f5daf4d14a61c18050987f6ff883c47 100644
--- a/fridge1_minimal_wall/trajectories_batch_2_of_4_cam_rand.h5
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diff --git a/fridge1_minimal_wall/trajectories_batch_3_of_4_cam_rand.h5 b/fridge1_minimal_wall/trajectories_batch_3_of_4_cam_rand.h5
index 67d7ec91f141ccf2626b90ffd88d49b2126d248c..eff6dd61c1ab1e52b7bbbbb9746fd7ea1040cb26 100644
--- a/fridge1_minimal_wall/trajectories_batch_3_of_4_cam_rand.h5
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index 35ce327f637d35db285219cca35329ec8cb5c37c..646f2b2959127cd5ef83073a97d28beab063f788 100644
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