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+05/08 23:04:59 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/08 23:04:59 INFO: Starting house-by-house rollout of 1 houses with 10 episodes each (10 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/08 23:04:59 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/08 23:04:59 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge1_minimal_wall/sim'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7284f3c8ce50>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge',
+ 'seed': 1003,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.7, 1.0),
+                         'base_pose_sampling_theta_range_rad': (-1.0, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 10,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/08 23:04:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/08 23:04:59 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/08 23:04:59 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/08 23:04:59 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/08 23:04:59 INFO: Starting house-by-house rollout of 1 houses with 10 episodes each (10 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/08 23:04:59 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/08 23:04:59 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge1_minimal_wall/sim'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x719c841c0d50>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge',
+ 'seed': 1001,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.7, 1.0),
+                         'base_pose_sampling_theta_range_rad': (-1.0, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 10,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/08 23:04:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/08 23:04:59 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/08 23:04:59 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/08 23:04:59 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/08 23:04:59 INFO: Starting house-by-house rollout of 1 houses with 10 episodes each (10 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/08 23:04:59 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/08 23:04:59 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge1_minimal_wall/sim'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7ce95d14efd0>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge',
+ 'seed': 1004,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.7, 1.0),
+                         'base_pose_sampling_theta_range_rad': (-1.0, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 10,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/08 23:04:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/08 23:04:59 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/08 23:04:59 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/08 23:04:59 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/08 23:04:59 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/08 23:05:00 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/08 23:05:00 INFO: Starting house-by-house rollout of 1 houses with 10 episodes each (10 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/08 23:05:00 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/08 23:05:00 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge1_minimal_wall/sim'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7ab927d63010>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge',
+ 'seed': 1002,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.7, 1.0),
+                         'base_pose_sampling_theta_range_rad': (-1.0, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 10,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/08 23:05:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/08 23:05:00 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/08 23:05:00 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/08 23:05:00 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/08 23:05:00 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/08 23:05:02 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/08 23:05:02 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/08 23:05:02 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/08 23:05:02 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/08 23:05:02 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/08 23:05:02 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/08 23:05:02 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/08 23:05:02 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/08 23:05:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:05:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:05:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:05:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:05:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:05:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:05:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:05:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:05:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:05:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021379m	[env.py: 870]
+05/08 23:05:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:05:02 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/08 23:05:02 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]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008922m	[env.py: 870]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:05:02 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/08 23:05:02 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/08 23:05:02 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00573645  0.73480416  0.02137913] yaw=-158.9deg	[env.py: 1019]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.35270063 -0.27541414 -0.00892191] yaw=119.0deg	[env.py: 1019]
+05/08 23:05:02 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/08 23:05:02 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:05:02 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:05:02 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/08 23:05:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:05:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07125527  0.79068435 -0.00892191] yaw=-158.0deg	[env.py: 1019]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17914666  1.07079139  0.02137913] yaw=-140.5deg	[env.py: 1019]
+05/08 23:05:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:05:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:05:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:05:02 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]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008894m	[env.py: 870]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:05:02 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.2703414   0.90916655 -0.00892191] yaw=-126.9deg	[env.py: 1019]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:05:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=16.8ms, retries=109.8ms, total=126.6ms	[env.py: 1075]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.353, -0.275, -0.009)	[env.py: 1079]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 119.0 deg	[env.py: 1082]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m	[env.py: 1086]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04864142  0.32969698  0.02137913] yaw=167.0deg	[env.py: 1019]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:05:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=16.7ms, retries=158.6ms, total=175.2ms	[env.py: 1075]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.006, 0.735, 0.021)	[env.py: 1079]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.9 deg	[env.py: 1082]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m	[env.py: 1086]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:05:02 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/08 23:05:02 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/08 23:05:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:05:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:05:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:05:03 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]
+05/08 23:05:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:05:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014745m	[env.py: 870]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:05:03 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94322248  0.23559303 -0.00889434] yaw=161.1deg	[env.py: 1019]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89760955  0.37940008 -0.00889434] yaw=184.7deg	[env.py: 1019]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03046971  0.63372843 -0.01474488] yaw=-158.9deg	[env.py: 1019]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95198622  0.77180671 -0.00889434] yaw=-160.3deg	[env.py: 1019]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:05:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=43.6ms, retries=265.8ms, total=309.5ms	[env.py: 1075]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.943, 0.236, -0.009)	[env.py: 1079]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.1 deg	[env.py: 1082]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:05:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:05:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.14587749 -0.26837655 -0.01474488] yaw=140.4deg	[env.py: 1019]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01432938  0.63806269 -0.01474488] yaw=-172.4deg	[env.py: 1019]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:05:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=17.0ms, retries=203.8ms, total=220.7ms	[env.py: 1075]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.030, 0.634, -0.015)	[env.py: 1079]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.9 deg	[env.py: 1082]
+05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m	[env.py: 1086]
+05/08 23:05:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:05:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:05:03 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/08 23:05:03 INFO: [Worker 0] Worker 0 house 1 episode 0/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:05:03 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/08 23:05:03 INFO: [Worker 0] Worker 0 house 1 episode 0/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:05:03 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/08 23:05:03 INFO: [Worker 0] Worker 0 house 1 episode 0/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:05:03 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/08 23:05:03 INFO: [Worker 0] Worker 0 house 1 episode 0/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:05:25 INFO: [Worker 0] Warmed up parallel IK solver in 22.167s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:05:25 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]
+05/08 23:05:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:05:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.080s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:05:25 INFO: [Worker 0] Warmed up parallel IK solver in 22.516s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:05:25 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]
+05/08 23:05:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:05:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.096s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:05:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.376s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:05:26 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.432[m] 88.293[deg]	[grasp_sample.py: 539]
+05/08 23:05:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:05:26 INFO: [Worker 0] Warmed up parallel IK solver in 22.774s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:05:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:05:26 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:05:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:05:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.414s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:05:26 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.484[m] 94.224[deg]	[grasp_sample.py: 539]
+05/08 23:05:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:05:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:05:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:05:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.432s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:05:26 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.554[m] 93.815[deg]	[grasp_sample.py: 539]
+05/08 23:05:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:05:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:05:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:05:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:05:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:05:28 INFO: [Worker 0] Warmed up parallel IK solver in 24.810s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:05:28 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]
+05/08 23:05:28 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:05:28 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:05:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.435s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:05:28 INFO: [Worker 0] Feasible grasp found 250 (originally 56): w/ 0.473[m] 80.513[deg]	[grasp_sample.py: 539]
+05/08 23:05:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:05:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:05:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:06:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:06:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:06:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:06:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:06:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:06:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:06:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:06:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:06:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:06:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:06:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:06:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:07:26 INFO: [Worker 0] Worker 0 house 1 episode 0 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:07:32 INFO: [Worker 0] Worker 0 house 1 episode 0 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:07:32 INFO: [Worker 0] Worker 0 house 1 episode 0 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:07:34 INFO: [Worker 0] Worker 0 house 1 episode 0 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:07:43 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:07:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/08 23:07:43 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/08 23:07:49 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:07:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/08 23:07:49 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
+05/08 23:07:49 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:07:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/08 23:07:49 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
+05/08 23:07:52 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:07:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/08 23:07:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:07:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:07:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:07:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.57s (batch: 3.32s, save: 7.24s)	[pipeline.py: 300]
+05/08 23:07:54 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.41s:
+  episode_total: mean=174.87s, total=174.87s, count=1, min=174872.8ms, max=174872.8ms
+  sensor_polling: mean=400.0ms, total=112.81s, count=282, min=387.1ms, max=568.6ms
+  save_trajectories: mean=7.24s, total=7.24s, count=1, min=7241.0ms, max=7241.0ms
+  physics_step: mean=18.9ms, total=5.34s, count=282, min=14.1ms, max=28.1ms
+  task_sampling: mean=3.41s, total=3.41s, count=1, min=3411.5ms, max=3411.5ms
+  save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3324.3ms, max=3324.3ms
+  scene_load: mean=2.88s, total=2.88s, count=1, min=2875.7ms, max=2875.7ms
+  scene_env_create: mean=1.85s, total=1.85s, count=1, min=1848.1ms, max=1848.1ms
+  scene_compile: mean=825.2ms, total=825.2ms, count=1, min=825.2ms, max=825.2ms
+  compile_mujoco: mean=548.7ms, total=548.7ms, count=1, min=548.7ms, max=548.7ms
+  task_specific_sample: mean=532.9ms, total=532.9ms, count=1, min=532.9ms, max=532.9ms
+  compile_xml_load: mean=213.1ms, total=213.1ms, count=1, min=213.1ms, max=213.1ms
+  scene_init: mean=159.0ms, total=159.0ms, count=1, min=159.0ms, max=159.0ms
+  compile_aux_objects: mean=48.0ms, total=48.0ms, count=1, min=48.0ms, max=48.0ms
+  compile_aux_policy_objects: mean=48.0ms, total=48.0ms, count=1, min=48.0ms, max=48.0ms
+  scene_asset_install: mean=43.2ms, total=43.2ms, count=1, min=43.2ms, max=43.2ms
+  asset_install_grasps: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms
+  asset_install_objects: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
+  compile_robot_add: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=512.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:07:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:07:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:07:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:07:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:07:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:07:56 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:07:56 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]
+05/08 23:07:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:07:56 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]
+05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033703m	[env.py: 870]
+05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:07:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.23999686  1.11785439  0.03370344] yaw=-130.1deg	[env.py: 1019]
+05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.33572152 -0.26455058  0.03370344] yaw=123.3deg	[env.py: 1019]
+05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.17529946  0.92033616  0.03370344] yaw=-143.8deg	[env.py: 1019]
+05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:07:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.5ms, total=126.5ms	[env.py: 1075]
+05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.240, 1.118, 0.034)	[env.py: 1079]
+05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.1 deg	[env.py: 1082]
+05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/08 23:07:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:07:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:07:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/08 23:07:56 INFO: [Worker 0] Worker 0 house 1 episode 1/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:07:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:07:56 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]
+05/08 23:07:56 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:07:56 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:07:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.416s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:07:57 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.485[m] 81.902[deg]	[grasp_sample.py: 539]
+05/08 23:07:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:07:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:07:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:08:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:08:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:08:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.95s (batch: 3.24s, save: 7.71s)	[pipeline.py: 300]
+05/08 23:08:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:08:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:08:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.05s (batch: 3.25s, save: 7.80s)	[pipeline.py: 300]
+05/08 23:08:01 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.62s:
+  episode_total: mean=181.26s, total=181.26s, count=1, min=181262.3ms, max=181262.3ms
+  sensor_polling: mean=399.5ms, total=117.84s, count=295, min=380.7ms, max=473.5ms
+  save_trajectories: mean=7.71s, total=7.71s, count=1, min=7709.6ms, max=7709.6ms
+  physics_step: mean=19.6ms, total=5.77s, count=295, min=14.3ms, max=28.2ms
+  task_sampling: mean=3.62s, total=3.62s, count=1, min=3624.4ms, max=3624.4ms
+  save_batch_prep: mean=3.24s, total=3.24s, count=1, min=3237.3ms, max=3237.3ms
+  scene_load: mean=2.93s, total=2.93s, count=1, min=2925.5ms, max=2925.5ms
+  scene_env_create: mean=2.04s, total=2.04s, count=1, min=2043.7ms, max=2043.7ms
+  scene_compile: mean=782.9ms, total=782.9ms, count=1, min=782.9ms, max=782.9ms
+  task_specific_sample: mean=696.7ms, total=696.7ms, count=1, min=696.7ms, max=696.7ms
+  compile_mujoco: mean=482.2ms, total=482.2ms, count=1, min=482.2ms, max=482.2ms
+  compile_xml_load: mean=236.9ms, total=236.9ms, count=1, min=236.9ms, max=236.9ms
+  scene_init: mean=59.9ms, total=59.9ms, count=1, min=59.9ms, max=59.9ms
+  compile_aux_objects: mean=47.5ms, total=47.5ms, count=1, min=47.5ms, max=47.5ms
+  compile_aux_policy_objects: mean=47.5ms, total=47.5ms, count=1, min=47.5ms, max=47.5ms
+  scene_asset_install: mean=38.7ms, total=38.7ms, count=1, min=38.7ms, max=38.7ms
+  asset_install_grasps: mean=28.0ms, total=28.0ms, count=1, min=28.0ms, max=28.0ms
+  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  compile_robot_add: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms
+  asset_install_scene: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  scene_randomize: mean=1.0ms, total=1.0ms, count=1, min=1.0ms, max=1.0ms
+  mj_forward_sync: mean=371.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:08:01 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.05s:
+  episode_total: mean=181.81s, total=181.81s, count=1, min=181814.3ms, max=181814.3ms
+  sensor_polling: mean=403.3ms, total=116.15s, count=288, min=387.4ms, max=615.9ms
+  save_trajectories: mean=7.80s, total=7.80s, count=1, min=7798.3ms, max=7798.3ms
+  physics_step: mean=18.6ms, total=5.35s, count=288, min=13.6ms, max=29.5ms
+  task_sampling: mean=4.05s, total=4.05s, count=1, min=4051.9ms, max=4051.9ms
+  scene_load: mean=3.40s, total=3.40s, count=1, min=3399.4ms, max=3399.4ms
+  save_batch_prep: mean=3.25s, total=3.25s, count=1, min=3254.5ms, max=3254.5ms
+  scene_env_create: mean=2.19s, total=2.19s, count=1, min=2192.9ms, max=2192.9ms
+  scene_compile: mean=1.11s, total=1.11s, count=1, min=1106.5ms, max=1106.5ms
+  task_specific_sample: mean=650.0ms, total=650.0ms, count=1, min=650.0ms, max=650.0ms
+  compile_mujoco: mean=614.0ms, total=614.0ms, count=1, min=614.0ms, max=614.0ms
+  compile_xml_load: mean=415.5ms, total=415.5ms, count=1, min=415.5ms, max=415.5ms
+  scene_init: mean=60.6ms, total=60.6ms, count=1, min=60.6ms, max=60.6ms
+  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  scene_asset_install: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms
+  asset_install_grasps: mean=27.5ms, total=27.5ms, count=1, min=27.5ms, max=27.5ms
+  compile_robot_add: mean=15.8ms, total=15.8ms, count=1, min=15.8ms, max=15.8ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  scene_randomize: mean=1.0ms, total=1.0ms, count=1, min=1.0ms, max=1.0ms
+  mj_forward_sync: mean=348.7us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:08:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:08:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:08:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:08:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:08:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:08:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:08:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031495m	[env.py: 870]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:08:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.25478499  0.97485515 -0.03149517] yaw=-141.3deg	[env.py: 1019]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:08:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:08:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:08:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:08:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:08:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:08:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:08:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016719m	[env.py: 870]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:08:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.23669606 -0.23649307 -0.03149517] yaw=128.4deg	[env.py: 1019]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85714495  0.36356817 -0.03149517] yaw=178.6deg	[env.py: 1019]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:08:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.9ms, total=105.0ms	[env.py: 1075]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.255, 0.975, -0.031)	[env.py: 1079]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.3 deg	[env.py: 1082]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.777m	[env.py: 1086]
+05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12954875 -0.21082833  0.01671924] yaw=129.5deg	[env.py: 1019]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.21479952 -0.27598926  0.01671924] yaw=140.7deg	[env.py: 1019]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99263894 -0.08024374  0.01671924] yaw=147.7deg	[env.py: 1019]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:08:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.1ms, total=182.1ms	[env.py: 1075]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.130, -0.211, 0.017)	[env.py: 1079]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 129.5 deg	[env.py: 1082]
+05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m	[env.py: 1086]
+05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:08:02 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/08 23:08:02 INFO: [Worker 0] Worker 0 house 1 episode 1/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:08:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:08:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:08:02 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:08:03 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/08 23:08:03 INFO: [Worker 0] Worker 0 house 1 episode 1/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:08:03 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:08:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:08:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:08:03 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:08:03 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:08:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.368s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:08:03 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.399[m] 86.012[deg]	[grasp_sample.py: 539]
+05/08 23:08:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:08:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:08:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:08:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.45s (batch: 3.22s, save: 8.23s)	[pipeline.py: 300]
+05/08 23:08:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:08:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:08:04 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.94s:
+  episode_total: mean=184.64s, total=184.64s, count=1, min=184639.2ms, max=184639.2ms
+  sensor_polling: mean=400.0ms, total=119.99s, count=300, min=367.3ms, max=511.7ms
+  save_trajectories: mean=8.23s, total=8.23s, count=1, min=8227.8ms, max=8227.8ms
+  physics_step: mean=18.4ms, total=5.53s, count=300, min=13.5ms, max=28.5ms
+  task_sampling: mean=3.94s, total=3.94s, count=1, min=3941.9ms, max=3941.9ms
+  scene_load: mean=3.31s, total=3.31s, count=1, min=3310.0ms, max=3310.0ms
+  save_batch_prep: mean=3.22s, total=3.22s, count=1, min=3218.5ms, max=3218.5ms
+  scene_env_create: mean=2.13s, total=2.13s, count=1, min=2127.2ms, max=2127.2ms
+  scene_compile: mean=1.04s, total=1.04s, count=1, min=1043.2ms, max=1043.2ms
+  compile_mujoco: mean=750.4ms, total=750.4ms, count=1, min=750.4ms, max=750.4ms
+  task_specific_sample: mean=629.1ms, total=629.1ms, count=1, min=629.1ms, max=629.1ms
+  compile_xml_load: mean=214.8ms, total=214.8ms, count=1, min=214.8ms, max=214.8ms
+  scene_init: mean=101.1ms, total=101.1ms, count=1, min=101.1ms, max=101.1ms
+  compile_aux_objects: mean=47.5ms, total=47.5ms, count=1, min=47.5ms, max=47.5ms
+  compile_aux_policy_objects: mean=47.5ms, total=47.5ms, count=1, min=47.5ms, max=47.5ms
+  scene_asset_install: mean=38.2ms, total=38.2ms, count=1, min=38.2ms, max=38.2ms
+  asset_install_grasps: mean=27.2ms, total=27.2ms, count=1, min=27.2ms, max=27.2ms
+  compile_robot_add: mean=15.9ms, total=15.9ms, count=1, min=15.9ms, max=15.9ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=519.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=37.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:08:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.331s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:08:04 INFO: [Worker 0] Feasible grasp found 250 (originally 56): w/ 0.556[m] 87.251[deg]	[grasp_sample.py: 539]
+05/08 23:08:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:08:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:08:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:08:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:08:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:08:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:08:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:08:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:08:05 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:08:05 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]
+05/08 23:08:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:08:05 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]
+05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044811m	[env.py: 870]
+05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:08:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14228619  0.94328703 -0.04481147] yaw=-152.1deg	[env.py: 1019]
+05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9272469   0.05270645 -0.04481147] yaw=147.9deg	[env.py: 1019]
+05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08492717  0.22196356 -0.04481147] yaw=160.2deg	[env.py: 1019]
+05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:08:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.5ms, total=85.5ms	[env.py: 1075]
+05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.142, 0.943, -0.045)	[env.py: 1079]
+05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg	[env.py: 1082]
+05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
+05/08 23:08:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:08:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:08:05 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/08 23:08:05 INFO: [Worker 0] Worker 0 house 1 episode 1/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:08:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:08:06 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]
+05/08 23:08:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:08:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:08:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.427s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:08:06 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.599[m] 98.243[deg]	[grasp_sample.py: 539]
+05/08 23:08:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:08:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:08:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:08:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:08:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:08:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:08:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:08:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:08:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:08:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:09:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:09:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:09:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:09:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:09:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:09:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:09:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:09:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:09:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:09:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:09:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:09:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:10:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:10:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/08 23:10:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/08 23:10:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:10:01 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:10:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 324 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:10:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.476s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:10:02 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.046[m] 0.396[deg]	[grasp_sample.py: 539]
+05/08 23:10:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:10:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:10:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:10:07 INFO: [Worker 0] Worker 0 house 1 episode 1 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:10:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:10:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:10:17 INFO: [Worker 0] Worker 0 house 1 episode 1 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:10:17 INFO: [Worker 0] Worker 0 house 1 episode 1 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:10:18 INFO: [Worker 0] Worker 0 house 1 episode 1 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:10:27 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:10:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/08 23:10:27 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/08 23:10:38 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:10:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/08 23:10:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:10:38 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:10:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/08 23:10:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:10:39 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:10:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/08 23:10:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:10:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:10:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:10:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.19s (batch: 4.08s, save: 8.11s)	[pipeline.py: 300]
+05/08 23:10:39 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.39s:
+  episode_total: mean=157.46s, total=157.46s, count=1, min=157456.6ms, max=157456.6ms
+  sensor_polling: mean=420.0ms, total=116.75s, count=278, min=391.0ms, max=628.3ms
+  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8112.6ms, max=8112.6ms
+  physics_step: mean=19.7ms, total=5.49s, count=278, min=15.4ms, max=27.5ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4075.6ms, max=4075.6ms
+  task_sampling: mean=394.8ms, total=394.8ms, count=1, min=394.8ms, max=394.8ms
+  task_specific_sample: mean=391.3ms, total=391.3ms, count=1, min=391.3ms, max=391.3ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=370.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.2us, 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]
+05/08 23:10:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:10:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:10:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:10:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:10:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:10:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:10:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:10:41 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:10:41 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:10:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:10:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.026m, effective arm-mount z=0.834m (base_body_z=-0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026170m	[env.py: 870]
+05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:10:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95890915  0.64222397 -0.02617048] yaw=-170.1deg	[env.py: 1019]
+05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91290474  0.67001367 -0.02617048] yaw=-174.1deg	[env.py: 1019]
+05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.3573647  -0.2459351  -0.02617048] yaw=131.6deg	[env.py: 1019]
+05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:10:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=83.2ms, total=83.2ms	[env.py: 1075]
+05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.642, -0.026)	[env.py: 1079]
+05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.1 deg	[env.py: 1082]
+05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m	[env.py: 1086]
+05/08 23:10:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:10:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:10:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:10:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:10:41 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/08 23:10:41 INFO: [Worker 0] Worker 0 house 1 episode 2/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:10:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:10:41 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]
+05/08 23:10:41 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:10:41 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:10:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.502s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:10:42 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.548[m] 95.762[deg]	[grasp_sample.py: 539]
+05/08 23:10:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:10:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:10:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:10:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:10:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:10:50 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.66s (batch: 3.87s, save: 8.80s)	[pipeline.py: 300]
+05/08 23:10:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:10:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:10:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.60s (batch: 3.87s, save: 8.74s)	[pipeline.py: 300]
+05/08 23:10:51 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.35s:
+  episode_total: mean=175.61s, total=175.61s, count=1, min=175605.4ms, max=175605.4ms
+  sensor_polling: mean=413.9ms, total=124.17s, count=300, min=351.9ms, max=615.6ms
+  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8797.8ms, max=8797.8ms
+  physics_step: mean=18.9ms, total=5.67s, count=300, min=13.6ms, max=25.8ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3866.9ms, max=3866.9ms
+  task_sampling: mean=345.2ms, total=345.2ms, count=1, min=345.2ms, max=345.2ms
+  task_specific_sample: mean=341.7ms, total=341.7ms, count=1, min=341.7ms, max=341.7ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=370.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:10:51 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.43s:
+  episode_total: mean=169.34s, total=169.34s, count=1, min=169342.7ms, max=169342.7ms
+  sensor_polling: mean=417.1ms, total=125.12s, count=300, min=392.7ms, max=573.1ms
+  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8735.5ms, max=8735.5ms
+  physics_step: mean=18.9ms, total=5.67s, count=300, min=13.5ms, max=24.8ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3867.5ms, max=3867.5ms
+  task_sampling: mean=425.5ms, total=425.5ms, count=1, min=425.5ms, max=425.5ms
+  task_specific_sample: mean=421.3ms, total=421.3ms, count=1, min=421.3ms, max=421.3ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=514.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:10:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:10:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:10:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.93s (batch: 3.64s, save: 9.29s)	[pipeline.py: 300]
+05/08 23:10:53 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.32s:
+  episode_total: mean=167.38s, total=167.38s, count=1, min=167377.6ms, max=167377.6ms
+  sensor_polling: mean=414.8ms, total=124.43s, count=300, min=385.1ms, max=565.1ms
+  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9292.6ms, max=9292.6ms
+  physics_step: mean=18.8ms, total=5.65s, count=300, min=13.5ms, max=24.0ms
+  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3636.6ms, max=3636.6ms
+  task_sampling: mean=316.5ms, total=316.5ms, count=1, min=316.5ms, max=316.5ms
+  task_specific_sample: mean=313.0ms, total=313.0ms, count=1, min=313.0ms, max=313.0ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=374.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.8us, 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]
+05/08 23:10:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:10:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:10:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:10:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:10:53 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]
+05/08 23:10:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:10:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009409m	[env.py: 870]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:10:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:10:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:10:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:10:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:10:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:10:53 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]
+05/08 23:10:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:10:53 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]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002449m	[env.py: 870]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:10:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09613572  1.03570255  0.00940923] yaw=-131.1deg	[env.py: 1019]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.15268984 -0.14891534  0.00940923] yaw=134.3deg	[env.py: 1019]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06091158  0.10629625  0.00940923] yaw=150.4deg	[env.py: 1019]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:10:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=286.9ms, total=286.9ms	[env.py: 1075]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.096, 1.036, 0.009)	[env.py: 1079]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.1 deg	[env.py: 1082]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
+05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07753487 -0.21950319  0.00244947] yaw=142.0deg	[env.py: 1019]
+05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.1573553  -0.1287386   0.00244947] yaw=147.4deg	[env.py: 1019]
+05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:10:54 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/08 23:10:54 INFO: [Worker 0] Worker 0 house 1 episode 2/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.12367311  1.09974053  0.00244947] yaw=-133.0deg	[env.py: 1019]
+05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:10:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=581.0ms, total=581.0ms	[env.py: 1075]
+05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.078, -0.220, 0.002)	[env.py: 1079]
+05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.0 deg	[env.py: 1082]
+05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m	[env.py: 1086]
+05/08 23:10:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:10:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:10:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:10:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:10:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:10:54 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]
+05/08 23:10:54 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:10:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.172s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:10:54 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/08 23:10:54 INFO: [Worker 0] Worker 0 house 1 episode 2/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:10:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:10:54 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]
+05/08 23:10:54 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:10:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:10:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:10:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:10:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:10:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:10:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:10:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:10:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:10:55 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:10:55 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]
+05/08 23:10:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:10:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028999m	[env.py: 870]
+05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:10:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9551048   0.8256184  -0.02899883] yaw=-152.8deg	[env.py: 1019]
+05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93166857  0.5797618  -0.02899883] yaw=-173.6deg	[env.py: 1019]
+05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98715666  0.54538295 -0.02899883] yaw=-167.3deg	[env.py: 1019]
+05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:10:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.9ms, total=142.0ms	[env.py: 1075]
+05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.955, 0.826, -0.029)	[env.py: 1079]
+05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.8 deg	[env.py: 1082]
+05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
+05/08 23:10:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:10:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:10:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:10:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:10:55 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/08 23:10:55 INFO: [Worker 0] Worker 0 house 1 episode 2/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:10:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:10:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:10:55 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:10:55 INFO: [Worker 0] Collision-checked 388 grasps in 0.079s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:10:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.488s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:10:56 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.524[m] 79.221[deg]	[grasp_sample.py: 539]
+05/08 23:10:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:10:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:10:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:10:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.974s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:10:56 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.634[m] 92.232[deg]	[grasp_sample.py: 539]
+05/08 23:10:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:10:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:10:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:10:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.023s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:10:58 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.500[m] 80.100[deg]	[grasp_sample.py: 539]
+05/08 23:10:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:10:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:10:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:11:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:11:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:11:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:11:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:11:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:11:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:11:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:11:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:11:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:11:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:12:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:12:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:13:06 INFO: [Worker 0] Worker 0 house 1 episode 2 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:13:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:13:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:13:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:13:20 INFO: [Worker 0] Worker 0 house 1 episode 2 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:13:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:13:21 INFO: [Worker 0] Worker 0 house 1 episode 2 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:13:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:13:23 INFO: [Worker 0] Object is not in grasp! 0.00120 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/08 23:13:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/08 23:13:23 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]
+05/08 23:13:23 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:13:23 INFO: [Worker 0] Collision-checked 388 grasps in 0.067s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:13:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.389s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:13:24 INFO: [Worker 0] Feasible grasp found 271 (originally 77): w/ 0.793[m] 49.903[deg]	[grasp_sample.py: 539]
+05/08 23:13:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:13:24 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:13:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/08 23:13:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:13:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:13:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:13:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/08 23:13:25 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]
+05/08 23:13:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:13:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:13:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.211s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:13:36 INFO: [Worker 0] Feasible grasp found 209 (originally 15): w/ 0.869[m] 76.915[deg]	[grasp_sample.py: 539]
+05/08 23:13:37 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/08 23:13:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:13:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:13:38 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.45s (batch: 3.87s, save: 9.58s)	[pipeline.py: 300]
+05/08 23:13:38 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.37s:
+  episode_total: mean=177.61s, total=177.61s, count=1, min=177613.4ms, max=177613.4ms
+  sensor_polling: mean=445.8ms, total=133.75s, count=300, min=362.4ms, max=826.1ms
+  save_trajectories: mean=9.58s, total=9.58s, count=1, min=9584.4ms, max=9584.4ms
+  physics_step: mean=23.7ms, total=7.10s, count=300, min=13.7ms, max=57.3ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3870.2ms, max=3870.2ms
+  task_sampling: mean=371.1ms, total=371.1ms, count=1, min=371.1ms, max=371.1ms
+  task_specific_sample: mean=367.5ms, total=367.5ms, count=1, min=367.5ms, max=367.5ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=375.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:13:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:13:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:13:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:13:39 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:13:39 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]
+05/08 23:13:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:13:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048945m	[env.py: 870]
+05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:13:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0492653   0.11346076 -0.04894518] yaw=163.4deg	[env.py: 1019]
+05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.33791518 -0.24439379 -0.04894518] yaw=132.0deg	[env.py: 1019]
+05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.32289619  1.14407609 -0.04894518] yaw=-128.8deg	[env.py: 1019]
+05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:13:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.4ms, total=69.4ms	[env.py: 1075]
+05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.049, 0.113, -0.049)	[env.py: 1079]
+05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.4 deg	[env.py: 1082]
+05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/08 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:13:39 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/08 23:13:39 INFO: [Worker 0] Worker 0 house 1 episode 3/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:13:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:13:39 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]
+05/08 23:13:39 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:13:39 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:13:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.411s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:13:39 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.508[m] 90.448[deg]	[grasp_sample.py: 539]
+05/08 23:13:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:13:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:13:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:13:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:13:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:13:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:13:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:13:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:13:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:13:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:13:40 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:13:40 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]
+05/08 23:13:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:13:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035000m	[env.py: 870]
+05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:13:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.26662397  1.04532037  0.03499978] yaw=-137.4deg	[env.py: 1019]
+05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.17801855  0.7576008   0.03499978] yaw=-161.0deg	[env.py: 1019]
+05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.23813281 -0.23280259  0.03499978] yaw=141.2deg	[env.py: 1019]
+05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:13:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.3ms, total=91.4ms	[env.py: 1075]
+05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.267, 1.045, 0.035)	[env.py: 1079]
+05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.4 deg	[env.py: 1082]
+05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
+05/08 23:13:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:13:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:13:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:13:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:13:40 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/08 23:13:40 INFO: [Worker 0] Worker 0 house 1 episode 3/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:13:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:13:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:13:40 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:13:40 INFO: [Worker 0] Collision-checked 388 grasps in 0.063s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:13:41 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:13:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/08 23:13:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:13:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:13:41 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.455[m] 89.712[deg]	[grasp_sample.py: 539]
+05/08 23:13:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:13:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:13:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:13:42 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:13:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/08 23:13:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:13:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:13:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:13:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.18s (batch: 3.90s, save: 8.28s)	[pipeline.py: 300]
+05/08 23:13:54 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.56s:
+  episode_total: mean=180.43s, total=180.43s, count=1, min=180432.6ms, max=180432.6ms
+  sensor_polling: mean=449.2ms, total=134.76s, count=300, min=389.7ms, max=654.7ms
+  save_trajectories: mean=8.28s, total=8.28s, count=1, min=8283.3ms, max=8283.3ms
+  physics_step: mean=21.5ms, total=6.46s, count=300, min=15.5ms, max=53.1ms
+  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3899.0ms, max=3899.0ms
+  task_sampling: mean=564.0ms, total=564.0ms, count=1, min=564.0ms, max=564.0ms
+  task_specific_sample: mean=560.1ms, total=560.1ms, count=1, min=560.1ms, max=560.1ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=514.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=28.7us, 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]
+05/08 23:13:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:13:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:13:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.76s (batch: 3.72s, save: 8.04s)	[pipeline.py: 300]
+05/08 23:13:54 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.93s:
+  episode_total: mean=181.11s, total=181.11s, count=1, min=181106.5ms, max=181106.5ms
+  sensor_polling: mean=448.6ms, total=134.57s, count=300, min=391.1ms, max=683.3ms
+  save_trajectories: mean=8.04s, total=8.04s, count=1, min=8036.4ms, max=8036.4ms
+  physics_step: mean=21.1ms, total=6.32s, count=300, min=16.9ms, max=61.2ms
+  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3723.2ms, max=3723.2ms
+  task_sampling: mean=932.0ms, total=932.0ms, count=1, min=932.0ms, max=932.0ms
+  task_specific_sample: mean=928.7ms, total=928.7ms, count=1, min=928.7ms, max=928.7ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=437.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.0us, 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]
+05/08 23:13:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:13:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:13:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:13:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:13:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:13:55 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:13:55 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]
+05/08 23:13:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:13:55 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]
+05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033823m	[env.py: 870]
+05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:13:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98178245  0.45727676  0.03382259] yaw=-189.2deg	[env.py: 1019]
+05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.30446907  1.02369173  0.03382259] yaw=-131.6deg	[env.py: 1019]
+05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0067943   0.59047494  0.03382259] yaw=-174.7deg	[env.py: 1019]
+05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:13:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.8ms, total=106.8ms	[env.py: 1075]
+05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.457, 0.034)	[env.py: 1079]
+05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.2 deg	[env.py: 1082]
+05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
+05/08 23:13:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:13:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:13:55 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/08 23:13:55 INFO: [Worker 0] Worker 0 house 1 episode 3/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:13:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:13:56 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]
+05/08 23:13:56 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:13:56 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:13:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:13:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:13:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:13:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:13:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:13:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:13:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:13:56 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:13:56 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]
+05/08 23:13:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:13:56 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]
+05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000239m	[env.py: 870]
+05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:13:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.24901261e+00 -6.97715382e-02  2.39334622e-04] yaw=135.4deg	[env.py: 1019]
+05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.13961552e+00 -8.83681104e-02  2.39334622e-04] yaw=132.1deg	[env.py: 1019]
+05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-9.83804613e-01  8.27635774e-01  2.39334622e-04] yaw=-160.5deg	[env.py: 1019]
+05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:13:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.9ms, total=116.9ms	[env.py: 1075]
+05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.249, -0.070, 0.000)	[env.py: 1079]
+05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 135.4 deg	[env.py: 1082]
+05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.744m	[env.py: 1086]
+05/08 23:13:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:13:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:13:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:13:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:13:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.586s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:13:56 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.463[m] 89.558[deg]	[grasp_sample.py: 539]
+05/08 23:13:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:13:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/08 23:13:56 INFO: [Worker 0] Worker 0 house 1 episode 3/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:13:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:13:56 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]
+05/08 23:13:56 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:13:57 INFO: [Worker 0] Collision-checked 388 grasps in 0.165s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:13:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:13:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:13:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.809s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:13:57 INFO: [Worker 0] Feasible grasp found 328 (originally 134): w/ 0.381[m] 86.060[deg]	[grasp_sample.py: 539]
+05/08 23:13:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:13:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:13:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:14:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:14:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:14:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:14:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:14:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:14:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:14:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:14:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:14:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:14:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:14:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:14:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:15:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:15:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:16:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:16:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:16:02 INFO: [Worker 0] Worker 0 house 1 episode 3 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:16:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:16:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:16:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:16:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:16:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/08 23:16:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/08 23:16:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:16:07 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:16:07 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 324 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:16:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.442s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:16:09 INFO: [Worker 0] Feasible grasp found 285 (originally 91): w/ 0.157[m] 2.781[deg]	[grasp_sample.py: 539]
+05/08 23:16:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:16:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:16:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:16:11 INFO: [Worker 0] Worker 0 house 1 episode 3 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:16:16 INFO: [Worker 0] Worker 0 house 1 episode 3 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:16:17 INFO: [Worker 0] Worker 0 house 1 episode 3 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:16:22 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:16:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/08 23:16:22 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/08 23:16:28 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:16:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/08 23:16:28 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
+05/08 23:16:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:16:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:16:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.12s (batch: 4.33s, save: 7.79s)	[pipeline.py: 300]
+05/08 23:16:35 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.75s:
+  episode_total: mean=169.40s, total=338.79s, count=2, min=162460.2ms, max=176333.1ms
+  sensor_polling: mean=442.2ms, total=263.11s, count=595, min=357.5ms, max=883.2ms
+  physics_step: mean=22.0ms, total=13.10s, count=595, min=15.6ms, max=55.8ms
+  save_trajectories: mean=7.79s, total=7.79s, count=1, min=7789.7ms, max=7789.7ms
+  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4333.1ms, max=4333.1ms
+  task_sampling: mean=376.2ms, total=752.4ms, count=2, min=305.0ms, max=447.4ms
+  task_specific_sample: mean=372.7ms, total=745.4ms, count=2, min=302.2ms, max=443.2ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=446.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=20.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:16:35 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:16:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/08 23:16:35 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
+05/08 23:16:35 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:16:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/08 23:16:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:16:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:16:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:16:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:16:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:16:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:16:36 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:16:36 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:16:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:16:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038620m	[env.py: 870]
+05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:16:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.22589959 -0.02256584  0.03862011] yaw=143.9deg	[env.py: 1019]
+05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89377997  0.09778099  0.03862011] yaw=161.5deg	[env.py: 1019]
+05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86598406  0.68005323  0.03862011] yaw=-158.9deg	[env.py: 1019]
+05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:16:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=63.2ms, total=63.3ms	[env.py: 1075]
+05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.226, -0.023, 0.039)	[env.py: 1079]
+05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 143.9 deg	[env.py: 1082]
+05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.732m	[env.py: 1086]
+05/08 23:16:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:16:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:16:37 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/08 23:16:37 INFO: [Worker 0] Worker 0 house 1 episode 4/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:16:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:16:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:16:37 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:16:37 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:16:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.398s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:16:37 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.378[m] 87.549[deg]	[grasp_sample.py: 539]
+05/08 23:16:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:16:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:16:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:16:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:16:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:16:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.53s (batch: 3.23s, save: 7.30s)	[pipeline.py: 300]
+05/08 23:16:39 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.38s:
+  episode_total: mean=163.47s, total=163.47s, count=1, min=163471.2ms, max=163471.2ms
+  sensor_polling: mean=457.0ms, total=123.86s, count=271, min=376.6ms, max=686.3ms
+  save_trajectories: mean=7.30s, total=7.30s, count=1, min=7299.3ms, max=7299.3ms
+  physics_step: mean=23.0ms, total=6.23s, count=271, min=16.1ms, max=56.2ms
+  save_batch_prep: mean=3.23s, total=3.23s, count=1, min=3226.2ms, max=3226.2ms
+  task_sampling: mean=379.5ms, total=379.5ms, count=1, min=379.5ms, max=379.5ms
+  task_specific_sample: mean=375.9ms, total=375.9ms, count=1, min=375.9ms, max=375.9ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=386.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=29.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:16:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:16:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:16:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:16:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:16:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:16:41 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:16:41 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:16:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:16:41 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]
+05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017797m	[env.py: 870]
+05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:16:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07693423 -0.18826477  0.01779686] yaw=147.2deg	[env.py: 1019]
+05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.31927829 -0.08187606  0.01779686] yaw=140.7deg	[env.py: 1019]
+05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.27381676 -0.38333635  0.01779686] yaw=130.3deg	[env.py: 1019]
+05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:16:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.0ms, total=140.1ms	[env.py: 1075]
+05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.077, -0.188, 0.018)	[env.py: 1079]
+05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.2 deg	[env.py: 1082]
+05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
+05/08 23:16:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:16:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:16:41 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/08 23:16:41 INFO: [Worker 0] Worker 0 house 1 episode 4/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:16:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:16:41 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]
+05/08 23:16:41 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:16:41 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:16:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.315s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:16:43 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.617[m] 93.108[deg]	[grasp_sample.py: 539]
+05/08 23:16:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:16:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:16:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:16:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:16:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:16:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.42s (batch: 3.65s, save: 7.78s)	[pipeline.py: 300]
+05/08 23:16:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:16:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:16:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.74s (batch: 3.71s, save: 8.02s)	[pipeline.py: 300]
+05/08 23:16:47 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.36s:
+  episode_total: mean=171.89s, total=171.89s, count=1, min=171894.2ms, max=171894.2ms
+  sensor_polling: mean=453.0ms, total=130.91s, count=289, min=364.0ms, max=663.8ms
+  save_trajectories: mean=7.78s, total=7.78s, count=1, min=7776.3ms, max=7776.3ms
+  physics_step: mean=21.5ms, total=6.22s, count=289, min=16.8ms, max=54.2ms
+  save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3647.3ms, max=3647.3ms
+  task_sampling: mean=356.8ms, total=356.8ms, count=1, min=356.8ms, max=356.8ms
+  task_specific_sample: mean=353.4ms, total=353.4ms, count=1, min=353.4ms, max=353.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=359.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:16:47 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.35s:
+  episode_total: mean=187.49s, total=187.49s, count=1, min=187488.9ms, max=187488.9ms
+  sensor_polling: mean=453.3ms, total=135.98s, count=300, min=375.9ms, max=718.9ms
+  save_trajectories: mean=8.02s, total=8.02s, count=1, min=8020.8ms, max=8020.8ms
+  physics_step: mean=23.8ms, total=7.15s, count=300, min=14.1ms, max=82.1ms
+  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3714.4ms, max=3714.4ms
+  task_sampling: mean=346.1ms, total=346.1ms, count=1, min=346.1ms, max=346.1ms
+  task_specific_sample: mean=342.1ms, total=342.1ms, count=1, min=342.1ms, max=342.1ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=394.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.8us, 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]
+05/08 23:16:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:16:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:16:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:16:49 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:16:49 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]
+05/08 23:16:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:16:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033841m	[env.py: 870]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:16:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06740984 -0.00512822 -0.03384075] yaw=142.0deg	[env.py: 1019]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03794029  0.18681181 -0.03384075] yaw=166.5deg	[env.py: 1019]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.392585   -0.14266398 -0.03384075] yaw=115.1deg	[env.py: 1019]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:16:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.2ms, total=126.2ms	[env.py: 1075]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.067, -0.005, -0.034)	[env.py: 1079]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.0 deg	[env.py: 1082]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
+05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:16:49 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/08 23:16:49 INFO: [Worker 0] Worker 0 house 1 episode 4/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:16:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:16:49 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]
+05/08 23:16:49 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:16:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:16:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:16:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:16:49 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:16:49 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]
+05/08 23:16:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:16:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007971m	[env.py: 870]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:16:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:16:49 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.28265786 -0.06296382  0.00797054] yaw=143.2deg	[env.py: 1019]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1365763  -0.10180606  0.00797054] yaw=133.4deg	[env.py: 1019]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.26961601  0.88966679  0.00797054] yaw=-131.7deg	[env.py: 1019]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:16:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.3ms, total=76.3ms	[env.py: 1075]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.283, -0.063, 0.008)	[env.py: 1079]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 143.2 deg	[env.py: 1082]
+05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.714m	[env.py: 1086]
+05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:16:49 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/08 23:16:49 INFO: [Worker 0] Worker 0 house 1 episode 4/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:16:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:16:49 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]
+05/08 23:16:49 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:16:49 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:16:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.515s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:16:50 INFO: [Worker 0] Feasible grasp found 328 (originally 134): w/ 0.439[m] 77.149[deg]	[grasp_sample.py: 539]
+05/08 23:16:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:16:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.406s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:16:50 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.383[m] 80.388[deg]	[grasp_sample.py: 539]
+05/08 23:16:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:16:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:16:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:16:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:16:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:17:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:17:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:17:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:17:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:17:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:17:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:17:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:17:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:17:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:17:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:17:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:17:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:18:41 INFO: [Worker 0] Worker 0 house 1 episode 4 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:18:55 INFO: [Worker 0] Worker 0 house 1 episode 4 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:18:57 INFO: [Worker 0] Worker 0 house 1 episode 4 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:19:00 INFO: [Worker 0] Worker 0 house 1 episode 4 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:19:01 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:19:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/08 23:19:01 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
+05/08 23:19:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:19:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:19:12 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.08s (batch: 3.60s, save: 7.48s)	[pipeline.py: 300]
+05/08 23:19:12 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.34s:
+  episode_total: mean=155.97s, total=155.97s, count=1, min=155968.4ms, max=155968.4ms
+  sensor_polling: mean=431.1ms, total=116.82s, count=271, min=385.8ms, max=803.6ms
+  save_trajectories: mean=7.48s, total=7.48s, count=1, min=7481.3ms, max=7481.3ms
+  physics_step: mean=19.4ms, total=5.27s, count=271, min=13.6ms, max=39.7ms
+  save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3601.4ms, max=3601.4ms
+  task_sampling: mean=336.2ms, total=336.2ms, count=1, min=336.2ms, max=336.2ms
+  task_specific_sample: mean=332.8ms, total=332.8ms, count=1, min=332.8ms, max=332.8ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=385.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:19:14 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:19:14 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/08 23:19:14 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
+05/08 23:19:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:19:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:19:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:19:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:19:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:19:14 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:19:14 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]
+05/08 23:19:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:19:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038110m	[env.py: 870]
+05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:19:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09643484  0.2553989   0.03810962] yaw=160.1deg	[env.py: 1019]
+05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99004415  0.75690576  0.03810962] yaw=-168.1deg	[env.py: 1019]
+05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.07443549  1.0213175   0.03810962] yaw=-148.1deg	[env.py: 1019]
+05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:19:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.0ms, total=170.1ms	[env.py: 1075]
+05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.096, 0.255, 0.038)	[env.py: 1079]
+05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.1 deg	[env.py: 1082]
+05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.728m	[env.py: 1086]
+05/08 23:19:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:19:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:19:14 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/08 23:19:14 INFO: [Worker 0] Worker 0 house 1 episode 5/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:19:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:19:14 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]
+05/08 23:19:14 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:19:14 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:19:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.361s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:19:15 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.417[m] 98.812[deg]	[grasp_sample.py: 539]
+05/08 23:19:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:19:15 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:19:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/08 23:19:15 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
+05/08 23:19:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:19:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:19:20 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:19:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/08 23:19:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:19:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:19:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:19:28 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.97s (batch: 3.83s, save: 10.14s)	[pipeline.py: 300]
+05/08 23:19:28 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.34s:
+  episode_total: mean=159.39s, total=159.39s, count=1, min=159388.2ms, max=159388.2ms
+  sensor_polling: mean=432.8ms, total=117.28s, count=271, min=408.3ms, max=662.7ms
+  save_trajectories: mean=10.14s, total=10.14s, count=1, min=10140.9ms, max=10140.9ms
+  physics_step: mean=19.5ms, total=5.28s, count=271, min=14.1ms, max=28.7ms
+  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3829.4ms, max=3829.4ms
+  task_sampling: mean=343.3ms, total=343.3ms, count=1, min=343.3ms, max=343.3ms
+  task_specific_sample: mean=339.9ms, total=339.9ms, count=1, min=339.9ms, max=339.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=365.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:19:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:19:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:19:29 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.51s (batch: 3.59s, save: 9.92s)	[pipeline.py: 300]
+05/08 23:19:29 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.40s:
+  episode_total: mean=160.93s, total=160.93s, count=1, min=160929.2ms, max=160929.2ms
+  sensor_polling: mean=425.2ms, total=119.48s, count=281, min=400.9ms, max=645.9ms
+  save_trajectories: mean=9.92s, total=9.92s, count=1, min=9921.5ms, max=9921.5ms
+  physics_step: mean=19.9ms, total=5.58s, count=281, min=13.7ms, max=54.4ms
+  save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3589.7ms, max=3589.7ms
+  task_sampling: mean=401.2ms, total=401.2ms, count=1, min=401.2ms, max=401.2ms
+  task_specific_sample: mean=397.6ms, total=397.6ms, count=1, min=397.6ms, max=397.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=371.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.2us, 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]
+05/08 23:19:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:19:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:19:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:19:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:19:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:19:30 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:19:30 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:19:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:19:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001036m	[env.py: 870]
+05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:19:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.21587518e+00  9.66572880e-01 -1.03574456e-03] yaw=-142.8deg	[env.py: 1019]
+05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98745078 -0.00438361 -0.00103574] yaw=153.8deg	[env.py: 1019]
+05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.18543485e+00 -2.95338813e-01 -1.03574456e-03] yaw=136.6deg	[env.py: 1019]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:19:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=334.6ms, total=334.6ms	[env.py: 1075]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.216, 0.967, -0.001)	[env.py: 1079]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.8 deg	[env.py: 1082]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m	[env.py: 1086]
+05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:19:31 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/08 23:19:31 INFO: [Worker 0] Worker 0 house 1 episode 5/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:19:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:19:31 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]
+05/08 23:19:31 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:19:31 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:19:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:19:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:19:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:19:31 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:19:31 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]
+05/08 23:19:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:19:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007942m	[env.py: 870]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:19:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.28644346  1.07459278  0.0079422 ] yaw=-134.3deg	[env.py: 1019]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.25496483  1.17181492  0.0079422 ] yaw=-127.3deg	[env.py: 1019]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8589264   0.14983812  0.0079422 ] yaw=157.4deg	[env.py: 1019]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:19:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.3ms, total=69.4ms	[env.py: 1075]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.286, 1.075, 0.008)	[env.py: 1079]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.3 deg	[env.py: 1082]
+05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
+05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:19:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.527s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:19:31 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.431[m] 82.423[deg]	[grasp_sample.py: 539]
+05/08 23:19:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:19:32 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/08 23:19:32 INFO: [Worker 0] Worker 0 house 1 episode 5/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:19:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:19:32 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]
+05/08 23:19:32 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:19:32 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:19:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:19:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:19:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.472s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:19:33 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.535[m] 94.536[deg]	[grasp_sample.py: 539]
+05/08 23:19:34 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/08 23:19:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:19:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:19:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.56s (batch: 4.31s, save: 11.25s)	[pipeline.py: 300]
+05/08 23:19:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:19:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:19:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:19:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:19:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:19:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:19:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:19:36 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:19:36 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:19:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:19:36 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]
+05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018082m	[env.py: 870]
+05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:19:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16198626  0.79240184 -0.01808227] yaw=-151.0deg	[env.py: 1019]
+05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06091194 -0.04417527 -0.01808227] yaw=148.8deg	[env.py: 1019]
+05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82574468  0.55888246 -0.01808227] yaw=-179.9deg	[env.py: 1019]
+05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:19:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.4ms, total=108.4ms	[env.py: 1075]
+05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.162, 0.792, -0.018)	[env.py: 1079]
+05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.0 deg	[env.py: 1082]
+05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.740m	[env.py: 1086]
+05/08 23:19:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:19:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:19:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:19:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:19:36 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.41s:
+  episode_total: mean=175.00s, total=175.00s, count=1, min=175004.2ms, max=175004.2ms
+  sensor_polling: mean=429.6ms, total=128.87s, count=300, min=382.6ms, max=667.6ms
+  save_trajectories: mean=11.25s, total=11.25s, count=1, min=11252.2ms, max=11252.2ms
+  physics_step: mean=19.3ms, total=5.80s, count=300, min=14.2ms, max=31.9ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4310.7ms, max=4310.7ms
+  task_sampling: mean=405.9ms, total=405.9ms, count=1, min=405.9ms, max=405.9ms
+  task_specific_sample: mean=402.5ms, total=402.5ms, count=1, min=402.5ms, max=402.5ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=366.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.9us, 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]
+05/08 23:19:36 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/08 23:19:36 INFO: [Worker 0] Worker 0 house 1 episode 6/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:19:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:19:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:19:36 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:19:36 INFO: [Worker 0] Collision-checked 388 grasps in 0.081s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:19:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.445s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:19:37 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.472[m] 103.262[deg]	[grasp_sample.py: 539]
+05/08 23:19:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:19:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:19:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:19:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:19:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:19:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:19:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:19:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:19:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:19:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:19:37 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:19:37 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:19:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:19:37 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]
+05/08 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000407m	[env.py: 870]
+05/08 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:19:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-9.49752948e-01  1.13674807e-01 -4.07166303e-04] yaw=167.0deg	[env.py: 1019]
+05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-9.06831583e-01  8.45801313e-01 -4.07166303e-04] yaw=-165.3deg	[env.py: 1019]
+05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02406658e+00  6.41609201e-01 -4.07166303e-04] yaw=-170.0deg	[env.py: 1019]
+05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:19:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=88.5ms, total=88.5ms	[env.py: 1075]
+05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.950, 0.114, -0.000)	[env.py: 1079]
+05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.0 deg	[env.py: 1082]
+05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
+05/08 23:19:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:19:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:19:38 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/08 23:19:38 INFO: [Worker 0] Worker 0 house 1 episode 5/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:19:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:19:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:19:38 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:19:38 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:19:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.572s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:19:39 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.490[m] 78.309[deg]	[grasp_sample.py: 539]
+05/08 23:19:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:19:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:19:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:19:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:20:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:20:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:20:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:20:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:20:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:20:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:20:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:20:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:20:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:20:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:20:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:21:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:21:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:21:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:21:45 INFO: [Worker 0] Worker 0 house 1 episode 5 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:21:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:21:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:21:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:21:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:21:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:21:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/08 23:21:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/08 23:21:50 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]
+05/08 23:21:50 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:21:50 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 322 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:21:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.331s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:21:52 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.084[m] 0.225[deg]	[grasp_sample.py: 539]
+05/08 23:21:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:21:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:21:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:21:58 INFO: [Worker 0] Worker 0 house 1 episode 6 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:21:59 INFO: [Worker 0] Worker 0 house 1 episode 5 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:22:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:22:04 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:22:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/08 23:22:04 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/08 23:22:05 INFO: [Worker 0] Worker 0 house 1 episode 5 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:22:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:22:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:22:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.39s (batch: 3.91s, save: 7.48s)	[pipeline.py: 300]
+05/08 23:22:16 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.41s:
+  episode_total: mean=181.71s, total=181.71s, count=1, min=181714.5ms, max=181714.5ms
+  sensor_polling: mean=456.4ms, total=128.70s, count=282, min=390.7ms, max=818.5ms
+  save_trajectories: mean=7.48s, total=7.48s, count=1, min=7484.4ms, max=7484.4ms
+  physics_step: mean=22.0ms, total=6.20s, count=282, min=13.9ms, max=48.2ms
+  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3909.6ms, max=3909.6ms
+  task_sampling: mean=411.5ms, total=411.5ms, count=1, min=411.5ms, max=411.5ms
+  task_specific_sample: mean=408.0ms, total=408.0ms, count=1, min=408.0ms, max=408.0ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=368.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:22:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:22:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:22:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:22:17 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:22:17 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]
+05/08 23:22:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:22:17 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]
+05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034451m	[env.py: 870]
+05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:22:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84014254  0.40844285  0.03445072] yaw=183.6deg	[env.py: 1019]
+05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13726702  0.04474743  0.03445072] yaw=148.8deg	[env.py: 1019]
+05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89309776  0.32001592  0.03445072] yaw=183.3deg	[env.py: 1019]
+05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:22:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.7ms, total=106.8ms	[env.py: 1075]
+05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.408, 0.034)	[env.py: 1079]
+05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.6 deg	[env.py: 1082]
+05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/08 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:22:18 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/08 23:22:18 INFO: [Worker 0] Worker 0 house 1 episode 6/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:22:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:22:18 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]
+05/08 23:22:18 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:22:18 INFO: [Worker 0] Collision-checked 388 grasps in 0.139s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:22:19 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:22:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/08 23:22:19 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
+05/08 23:22:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.429s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:22:19 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.579[m] 89.884[deg]	[grasp_sample.py: 539]
+05/08 23:22:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:22:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:22:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:22:20 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:22:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/08 23:22:20 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
+05/08 23:22:24 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:22:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/08 23:22:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:22:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:22:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:22:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.19s (batch: 3.81s, save: 10.38s)	[pipeline.py: 300]
+05/08 23:22:34 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.64s:
+  episode_total: mean=90.41s, total=180.82s, count=2, min=2892.4ms, max=177924.4ms
+  sensor_polling: mean=446.1ms, total=132.04s, count=296, min=385.3ms, max=639.4ms
+  save_trajectories: mean=10.38s, total=10.38s, count=1, min=10378.7ms, max=10378.7ms
+  physics_step: mean=21.8ms, total=6.46s, count=296, min=13.6ms, max=56.3ms
+  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3813.4ms, max=3813.4ms
+  task_sampling: mean=321.8ms, total=643.6ms, count=2, min=319.7ms, max=324.0ms
+  task_specific_sample: mean=318.4ms, total=636.8ms, count=2, min=315.8ms, max=321.0ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=430.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=20.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:22:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:22:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:22:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.84s (batch: 3.83s, save: 10.01s)	[pipeline.py: 300]
+05/08 23:22:34 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.34s:
+  episode_total: mean=176.96s, total=176.96s, count=1, min=176961.7ms, max=176961.7ms
+  sensor_polling: mean=452.7ms, total=131.73s, count=291, min=391.5ms, max=768.7ms
+  save_trajectories: mean=10.01s, total=10.01s, count=1, min=10014.8ms, max=10014.8ms
+  physics_step: mean=21.3ms, total=6.21s, count=291, min=14.3ms, max=82.9ms
+  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3826.4ms, max=3826.4ms
+  task_sampling: mean=340.3ms, total=340.3ms, count=1, min=340.3ms, max=340.3ms
+  task_specific_sample: mean=336.9ms, total=336.9ms, count=1, min=336.9ms, max=336.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=364.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:22:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:22:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:22:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:22:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:22:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:22:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:22:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:22:35 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:22:35 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:22:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:22:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034502m	[env.py: 870]
+05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:22:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85082624  0.34315418  0.03450242] yaw=173.9deg	[env.py: 1019]
+05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07262359  0.11744502  0.03450242] yaw=151.6deg	[env.py: 1019]
+05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0602445   1.0920893   0.03450242] yaw=-148.1deg	[env.py: 1019]
+05/08 23:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:22:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.2ms, total=117.2ms	[env.py: 1075]
+05/08 23:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.851, 0.343, 0.035)	[env.py: 1079]
+05/08 23:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.9 deg	[env.py: 1082]
+05/08 23:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
+05/08 23:22:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:22:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:22:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:22:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:22:36 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/08 23:22:36 INFO: [Worker 0] Worker 0 house 1 episode 7/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:22:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:22:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:22:36 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:22:36 INFO: [Worker 0] Collision-checked 388 grasps in 0.077s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:22:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:22:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:22:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:22:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:22:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:22:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:22:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:22:36 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:22:36 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:22:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:22:36 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]
+05/08 23:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048620m	[env.py: 870]
+05/08 23:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:22:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90413642  0.40999728  0.04861957] yaw=171.7deg	[env.py: 1019]
+05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.18248204 -0.35059628  0.04861957] yaw=118.0deg	[env.py: 1019]
+05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.40816252 -0.18751882  0.04861957] yaw=113.8deg	[env.py: 1019]
+05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:22:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=316.6ms, total=316.6ms	[env.py: 1075]
+05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.904, 0.410, 0.049)	[env.py: 1079]
+05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.7 deg	[env.py: 1082]
+05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
+05/08 23:22:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:22:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:22:37 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/08 23:22:37 INFO: [Worker 0] Worker 0 house 1 episode 6/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:22:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:22:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:22:37 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:22:37 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:22:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.191s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:22:37 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.539[m] 85.419[deg]	[grasp_sample.py: 539]
+05/08 23:22:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:22:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:22:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:22:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.823s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:22:38 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.535[m] 93.960[deg]	[grasp_sample.py: 539]
+05/08 23:22:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:22:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:22:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:22:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:22:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:22:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.09s (batch: 4.10s, save: 10.99s)	[pipeline.py: 300]
+05/08 23:22:40 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.63s:
+  episode_total: mean=190.02s, total=190.02s, count=1, min=190017.6ms, max=190017.6ms
+  sensor_polling: mean=451.1ms, total=135.33s, count=300, min=391.5ms, max=682.0ms
+  save_trajectories: mean=10.99s, total=10.99s, count=1, min=10986.7ms, max=10986.7ms
+  physics_step: mean=21.7ms, total=6.50s, count=300, min=14.9ms, max=47.7ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4102.3ms, max=4102.3ms
+  task_sampling: mean=626.1ms, total=626.1ms, count=1, min=626.1ms, max=626.1ms
+  task_specific_sample: mean=621.7ms, total=621.7ms, count=1, min=621.7ms, max=621.7ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=586.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=26.4us, 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]
+05/08 23:22:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:22:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:22:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:22:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:22:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:22:42 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:22:42 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]
+05/08 23:22:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:22:42 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]
+05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017884m	[env.py: 870]
+05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:22:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99899999  0.95080807 -0.01788374] yaw=-145.0deg	[env.py: 1019]
+05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10730968  0.72173271 -0.01788374] yaw=-163.2deg	[env.py: 1019]
+05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.20484497  1.15634836 -0.01788374] yaw=-124.5deg	[env.py: 1019]
+05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:22:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=86.2ms, total=86.3ms	[env.py: 1075]
+05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.999, 0.951, -0.018)	[env.py: 1079]
+05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.0 deg	[env.py: 1082]
+05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m	[env.py: 1086]
+05/08 23:22:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:22:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:22:42 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/08 23:22:42 INFO: [Worker 0] Worker 0 house 1 episode 6/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:22:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:22:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:22:42 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:22:42 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:22:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.496s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:22:44 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.505[m] 80.643[deg]	[grasp_sample.py: 539]
+05/08 23:22:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:22:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:22:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:23:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:23:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:23:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:23:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:23:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:23:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:23:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:23:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:23:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:23:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:23:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:23:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:24:29 INFO: [Worker 0] Object is not in grasp! 0.00179 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/08 23:24:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/08 23:24:29 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]
+05/08 23:24:29 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:24:29 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 364 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:24:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.374s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:24:29 INFO: [Worker 0] Feasible grasp found 167 (originally 167): w/ 0.088[m] 2.731[deg]	[grasp_sample.py: 539]
+05/08 23:24:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:24:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:24:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:24:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:24:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:24:47 INFO: [Worker 0] Worker 0 house 1 episode 6 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:24:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:25:01 INFO: [Worker 0] Worker 0 house 1 episode 6 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:25:02 INFO: [Worker 0] Worker 0 house 1 episode 7 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:25:07 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:25:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/08 23:25:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:25:10 INFO: [Worker 0] Worker 0 house 1 episode 6 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:25:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:25:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:25:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.12s (batch: 3.99s, save: 8.13s)	[pipeline.py: 300]
+05/08 23:25:20 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.35s:
+  episode_total: mean=182.35s, total=182.35s, count=1, min=182345.5ms, max=182345.5ms
+  sensor_polling: mean=454.9ms, total=136.48s, count=300, min=382.0ms, max=819.5ms
+  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8131.1ms, max=8131.1ms
+  physics_step: mean=22.4ms, total=6.72s, count=300, min=13.6ms, max=53.6ms
+  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3990.9ms, max=3990.9ms
+  task_sampling: mean=350.0ms, total=350.0ms, count=1, min=350.0ms, max=350.0ms
+  task_specific_sample: mean=346.0ms, total=346.0ms, count=1, min=346.0ms, max=346.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=456.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:25:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:25:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:25:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:25:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:25:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:25:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:25:21 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]
+05/08 23:25:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:25:21 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]
+05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034901m	[env.py: 870]
+05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:25:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06195932  1.04246404 -0.03490134] yaw=-149.2deg	[env.py: 1019]
+05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02245249  0.6248475  -0.03490134] yaw=-158.3deg	[env.py: 1019]
+05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:25:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=169.3ms, total=169.3ms	[env.py: 1075]
+05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.062, 1.042, -0.035)	[env.py: 1079]
+05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.2 deg	[env.py: 1082]
+05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m	[env.py: 1086]
+05/08 23:25:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:25:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:25:22 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/08 23:25:22 INFO: [Worker 0] Worker 0 house 1 episode 7/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:25:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:25:22 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]
+05/08 23:25:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:25:22 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:25:22 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:25:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/08 23:25:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:25:23 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:25:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/08 23:25:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:25:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.393s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:25:23 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.640[m] 91.055[deg]	[grasp_sample.py: 539]
+05/08 23:25:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:25:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:25:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:25:30 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:25:30 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/08 23:25:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:25:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:25:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:25:36 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.15s (batch: 4.06s, save: 10.09s)	[pipeline.py: 300]
+05/08 23:25:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:25:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:25:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.10s (batch: 3.79s, save: 10.31s)	[pipeline.py: 300]
+05/08 23:25:37 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.61s:
+  episode_total: mean=180.77s, total=180.77s, count=1, min=180767.8ms, max=180767.8ms
+  sensor_polling: mean=445.7ms, total=133.72s, count=300, min=391.8ms, max=750.4ms
+  save_trajectories: mean=10.09s, total=10.09s, count=1, min=10089.5ms, max=10089.5ms
+  physics_step: mean=21.1ms, total=6.32s, count=300, min=16.9ms, max=44.4ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4059.3ms, max=4059.3ms
+  task_sampling: mean=608.1ms, total=608.1ms, count=1, min=608.1ms, max=608.1ms
+  task_specific_sample: mean=603.6ms, total=603.6ms, count=1, min=603.6ms, max=603.6ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=541.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=29.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:25:38 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.40s:
+  episode_total: mean=182.25s, total=182.25s, count=1, min=182248.2ms, max=182248.2ms
+  sensor_polling: mean=449.2ms, total=134.76s, count=300, min=386.4ms, max=695.1ms
+  save_trajectories: mean=10.31s, total=10.31s, count=1, min=10308.5ms, max=10308.5ms
+  physics_step: mean=21.3ms, total=6.38s, count=300, min=16.7ms, max=52.7ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3792.5ms, max=3792.5ms
+  task_sampling: mean=402.0ms, total=402.0ms, count=1, min=402.0ms, max=402.0ms
+  task_specific_sample: mean=397.6ms, total=397.6ms, count=1, min=397.6ms, max=397.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=581.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=25.4us, 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]
+05/08 23:25:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:25:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:25:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:25:39 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:25:39 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]
+05/08 23:25:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:25:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.026m, effective arm-mount z=0.834m (base_body_z=-0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025780m	[env.py: 870]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:25:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86283537  0.48656624 -0.02578038] yaw=-171.4deg	[env.py: 1019]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.21604366  0.96321982 -0.02578038] yaw=-128.4deg	[env.py: 1019]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99244015  0.87824898 -0.02578038] yaw=-146.8deg	[env.py: 1019]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:25:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=119.4ms, total=119.5ms	[env.py: 1075]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.863, 0.487, -0.026)	[env.py: 1079]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.4 deg	[env.py: 1082]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
+05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:25:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/08 23:25:39 INFO: [Worker 0] Worker 0 house 1 episode 7/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:25:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:25:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:25:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:25:39 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:25:39 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]
+05/08 23:25:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:25:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.026m, effective arm-mount z=0.834m (base_body_z=-0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026335m	[env.py: 870]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:25:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:25:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:25:39 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]
+05/08 23:25:39 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:25:40 INFO: [Worker 0] Collision-checked 388 grasps in 0.171s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99247691 -0.04362111 -0.02633547] yaw=139.8deg	[env.py: 1019]
+05/08 23:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.06375574  0.57653658 -0.02633547] yaw=-161.1deg	[env.py: 1019]
+05/08 23:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82868029  0.63746762 -0.02633547] yaw=-175.5deg	[env.py: 1019]
+05/08 23:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:25:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=379.8ms, total=379.9ms	[env.py: 1075]
+05/08 23:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.992, -0.044, -0.026)	[env.py: 1079]
+05/08 23:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 139.8 deg	[env.py: 1082]
+05/08 23:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
+05/08 23:25:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:25:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:25:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:25:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:25:40 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/08 23:25:40 INFO: [Worker 0] Worker 0 house 1 episode 8/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:25:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:25:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:25:40 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:25:40 INFO: [Worker 0] Collision-checked 388 grasps in 0.090s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:25:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.097s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:25:42 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.542[m] 85.325[deg]	[grasp_sample.py: 539]
+05/08 23:25:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:25:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.794s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:25:42 INFO: [Worker 0] Feasible grasp found 328 (originally 134): w/ 0.564[m] 86.750[deg]	[grasp_sample.py: 539]
+05/08 23:25:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:25:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:25:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:25:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:25:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:25:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:25:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:25:45 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.30s (batch: 4.46s, save: 9.84s)	[pipeline.py: 300]
+05/08 23:25:45 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.34s:
+  episode_total: mean=183.63s, total=183.63s, count=1, min=183632.7ms, max=183632.7ms
+  sensor_polling: mean=452.8ms, total=135.83s, count=300, min=385.4ms, max=716.4ms
+  save_trajectories: mean=9.84s, total=9.84s, count=1, min=9837.7ms, max=9837.7ms
+  physics_step: mean=21.4ms, total=6.43s, count=300, min=13.8ms, max=69.4ms
+  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4462.3ms, max=4462.3ms
+  task_sampling: mean=342.4ms, total=342.4ms, count=1, min=342.4ms, max=342.4ms
+  task_specific_sample: mean=338.6ms, total=338.6ms, count=1, min=338.6ms, max=338.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=435.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.4us, 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]
+05/08 23:25:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:25:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:25:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:25:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:25:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:25:47 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:25:47 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:25:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:25:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020375m	[env.py: 870]
+05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:25:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.35923824 -0.2398748  -0.02037467] yaw=125.8deg	[env.py: 1019]
+05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97080655  0.28281916 -0.02037467] yaw=176.5deg	[env.py: 1019]
+05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89336522  0.57128603 -0.02037467] yaw=-170.3deg	[env.py: 1019]
+05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:25:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.9ms, total=100.9ms	[env.py: 1075]
+05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.359, -0.240, -0.020)	[env.py: 1079]
+05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 125.8 deg	[env.py: 1082]
+05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m	[env.py: 1086]
+05/08 23:25:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:25:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:25:47 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/08 23:25:47 INFO: [Worker 0] Worker 0 house 1 episode 7/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:25:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:25:47 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]
+05/08 23:25:47 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:25:48 INFO: [Worker 0] Collision-checked 388 grasps in 0.080s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:25:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.473s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:25:48 INFO: [Worker 0] Feasible grasp found 250 (originally 56): w/ 0.428[m] 77.331[deg]	[grasp_sample.py: 539]
+05/08 23:25:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:25:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:25:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:26:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:26:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:26:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:26:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:26:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:26:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:26:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:26:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:26:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:26:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:26:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:26:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:27:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:27:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:27:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:27:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:27:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:27:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:27:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:27:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:27:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/08 23:27:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/08 23:27:46 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]
+05/08 23:27:46 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:27:46 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 326 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:27:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.477s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:27:48 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.081[m] 0.436[deg]	[grasp_sample.py: 539]
+05/08 23:27:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:27:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:27:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:27:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:27:58 INFO: [Worker 0] Worker 0 house 1 episode 7 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:28:02 INFO: [Worker 0] Worker 0 house 1 episode 7 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:28:04 INFO: [Worker 0] Worker 0 house 1 episode 7 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:28:06 INFO: [Worker 0] Worker 0 house 1 episode 8 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:28:19 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:28:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/08 23:28:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:28:22 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:28:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/08 23:28:22 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/08 23:28:24 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:28:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/08 23:28:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:28:26 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:28:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/08 23:28:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:28:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:28:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:28:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.74s (batch: 3.64s, save: 10.10s)	[pipeline.py: 300]
+05/08 23:28:34 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.44s:
+  episode_total: mean=192.51s, total=192.51s, count=1, min=192511.5ms, max=192511.5ms
+  sensor_polling: mean=455.2ms, total=136.55s, count=300, min=375.6ms, max=790.0ms
+  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10099.7ms, max=10099.7ms
+  physics_step: mean=21.3ms, total=6.39s, count=300, min=13.6ms, max=47.1ms
+  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3641.9ms, max=3641.9ms
+  task_sampling: mean=438.0ms, total=438.0ms, count=1, min=438.0ms, max=438.0ms
+  task_specific_sample: mean=434.5ms, total=434.5ms, count=1, min=434.5ms, max=434.5ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=375.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=29.5us, 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]
+05/08 23:28:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:28:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:28:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:28:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:28:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:28:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:28:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:28:35 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:28:35 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:28:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:28:35 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]
+05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049456m	[env.py: 870]
+05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:28:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89797797  0.59077007  0.04945604] yaw=-159.1deg	[env.py: 1019]
+05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95572468  0.75747947  0.04945604] yaw=-164.1deg	[env.py: 1019]
+05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:28:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:28:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:28:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.80s (batch: 3.87s, save: 9.93s)	[pipeline.py: 300]
+05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.16049775 -0.23012286  0.04945604] yaw=131.6deg	[env.py: 1019]
+05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:28:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=268.7ms, total=268.8ms	[env.py: 1075]
+05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.898, 0.591, 0.049)	[env.py: 1079]
+05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.1 deg	[env.py: 1082]
+05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
+05/08 23:28:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:28:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:28:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:28:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:28:36 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/08 23:28:36 INFO: [Worker 0] Worker 0 house 1 episode 8/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:28:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:28:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:28:36 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:28:36 INFO: [Worker 0] Collision-checked 388 grasps in 0.085s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:28:36 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.44s:
+  episode_total: mean=169.14s, total=169.14s, count=1, min=169138.9ms, max=169138.9ms
+  sensor_polling: mean=448.8ms, total=125.23s, count=279, min=398.8ms, max=626.4ms
+  save_trajectories: mean=9.93s, total=9.93s, count=1, min=9926.8ms, max=9926.8ms
+  physics_step: mean=21.2ms, total=5.91s, count=279, min=14.2ms, max=48.3ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3873.6ms, max=3873.6ms
+  task_sampling: mean=440.3ms, total=440.3ms, count=1, min=440.3ms, max=440.3ms
+  task_specific_sample: mean=436.8ms, total=436.8ms, count=1, min=436.8ms, max=436.8ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=371.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:28:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.613s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:28:37 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.489[m] 83.484[deg]	[grasp_sample.py: 539]
+05/08 23:28:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:28:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:28:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:28:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:28:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:28:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:28:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:28:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:28:38 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:28:38 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:28:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:28:38 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]
+05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034898m	[env.py: 870]
+05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:28:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.29359479 -0.24407557 -0.03489846] yaw=128.0deg	[env.py: 1019]
+05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93359263  0.70763439 -0.03489846] yaw=-154.7deg	[env.py: 1019]
+05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.28363215 -0.09606714 -0.03489846] yaw=137.1deg	[env.py: 1019]
+05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:28:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.0ms, total=131.1ms	[env.py: 1075]
+05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.294, -0.244, -0.035)	[env.py: 1079]
+05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 128.0 deg	[env.py: 1082]
+05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
+05/08 23:28:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:28:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:28:38 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/08 23:28:38 INFO: [Worker 0] Worker 0 house 1 episode 8/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:28:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:28:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:28:38 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:28:38 INFO: [Worker 0] Collision-checked 388 grasps in 0.086s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:28:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:28:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:28:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.21s (batch: 3.89s, save: 10.32s)	[pipeline.py: 300]
+05/08 23:28:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.482s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:28:39 INFO: [Worker 0] Feasible grasp found 250 (originally 56): w/ 0.493[m] 84.470[deg]	[grasp_sample.py: 539]
+05/08 23:28:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:28:39 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.41s:
+  episode_total: mean=180.34s, total=180.34s, count=1, min=180340.0ms, max=180340.0ms
+  sensor_polling: mean=444.5ms, total=133.34s, count=300, min=385.5ms, max=687.3ms
+  save_trajectories: mean=10.32s, total=10.32s, count=1, min=10322.0ms, max=10322.0ms
+  physics_step: mean=20.8ms, total=6.25s, count=300, min=13.7ms, max=44.6ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3888.1ms, max=3888.1ms
+  task_sampling: mean=412.3ms, total=412.3ms, count=1, min=412.3ms, max=412.3ms
+  task_specific_sample: mean=408.0ms, total=408.0ms, count=1, min=408.0ms, max=408.0ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=516.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.8us, 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]
+05/08 23:28:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:28:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:28:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:28:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:28:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.73s (batch: 4.09s, save: 10.64s)	[pipeline.py: 300]
+05/08 23:28:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:28:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:28:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:28:41 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:28:41 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:28:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:28:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007592m	[env.py: 870]
+05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:28:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99399843 -0.12162489  0.00759168] yaw=157.1deg	[env.py: 1019]
+05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85920235  0.69934236  0.00759168] yaw=-172.8deg	[env.py: 1019]
+05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.1390359   1.08901174  0.00759168] yaw=-137.7deg	[env.py: 1019]
+05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:28:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.2ms, total=103.2ms	[env.py: 1075]
+05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.994, -0.122, 0.008)	[env.py: 1079]
+05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.1 deg	[env.py: 1082]
+05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
+05/08 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:28:41 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/08 23:28:41 INFO: [Worker 0] Worker 0 house 1 episode 8/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:28:41 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.69s:
+  episode_total: mean=181.79s, total=181.79s, count=1, min=181794.8ms, max=181794.8ms
+  sensor_polling: mean=446.3ms, total=133.90s, count=300, min=395.5ms, max=708.7ms
+  save_trajectories: mean=10.64s, total=10.64s, count=1, min=10635.3ms, max=10635.3ms
+  physics_step: mean=21.4ms, total=6.42s, count=300, min=16.7ms, max=61.3ms
+  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4092.0ms, max=4092.0ms
+  task_sampling: mean=690.0ms, total=690.0ms, count=1, min=690.0ms, max=690.0ms
+  task_specific_sample: mean=686.0ms, total=686.0ms, count=1, min=686.0ms, max=686.0ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=431.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:28:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:28:41 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]
+05/08 23:28:41 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:28:41 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:28:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.510s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:28:43 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.632[m] 88.314[deg]	[grasp_sample.py: 539]
+05/08 23:28:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:28:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:28:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:28:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:28:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:28:43 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:28:43 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:28:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:28:43 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]
+05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011112m	[env.py: 870]
+05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:28:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81502826  0.43851255 -0.0111124 ] yaw=-184.0deg	[env.py: 1019]
+05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:28:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04247256  0.28902088 -0.0111124 ] yaw=163.8deg	[env.py: 1019]
+05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97731081  0.81878951 -0.0111124 ] yaw=-156.3deg	[env.py: 1019]
+05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:28:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.5ms, total=92.5ms	[env.py: 1075]
+05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.439, -0.011)	[env.py: 1079]
+05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -184.0 deg	[env.py: 1082]
+05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m	[env.py: 1086]
+05/08 23:28:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:28:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:28:43 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/08 23:28:43 INFO: [Worker 0] Worker 0 house 1 episode 9/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:28:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:28:43 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]
+05/08 23:28:43 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:28:43 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:28:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:28:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:28:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.646s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:28:44 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.680[m] 99.600[deg]	[grasp_sample.py: 539]
+05/08 23:28:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:28:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:28:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:29:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:29:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:29:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:29:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:29:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:29:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:29:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:29:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:29:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:29:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:30:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:30:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:30:56 INFO: [Worker 0] Worker 0 house 1 episode 8 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:31:00 INFO: [Worker 0] Worker 0 house 1 episode 8 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:31:08 INFO: [Worker 0] Worker 0 house 1 episode 8 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:31:08 INFO: [Worker 0] Worker 0 house 1 episode 9 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:31:17 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:31:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/08 23:31:17 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/08 23:31:20 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:31:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/08 23:31:20 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/08 23:31:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:31:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:31:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.93s (batch: 3.84s, save: 9.09s)	[pipeline.py: 300]
+05/08 23:31:30 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:31:30 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/08 23:31:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:31:30 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:31:30 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/08 23:31:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:31:30 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.53s:
+  episode_total: mean=175.00s, total=175.00s, count=1, min=175004.6ms, max=175004.6ms
+  sensor_polling: mean=443.1ms, total=129.81s, count=293, min=388.7ms, max=729.9ms
+  save_trajectories: mean=9.09s, total=9.09s, count=1, min=9091.0ms, max=9091.0ms
+  physics_step: mean=22.2ms, total=6.49s, count=293, min=15.7ms, max=48.7ms
+  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3838.3ms, max=3838.3ms
+  task_sampling: mean=534.6ms, total=534.6ms, count=1, min=534.6ms, max=534.6ms
+  task_specific_sample: mean=530.6ms, total=530.6ms, count=1, min=530.6ms, max=530.6ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=442.5us, 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]
+05/08 23:31:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:31:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:31:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:31:32 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:31:32 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:31:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:31:32 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]
+05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006124m	[env.py: 870]
+05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:31:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94811438  0.33861566 -0.00612417] yaw=167.3deg	[env.py: 1019]
+05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81479547  0.35583442 -0.00612417] yaw=179.2deg	[env.py: 1019]
+05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.01021536  0.56024963 -0.00612417] yaw=-167.6deg	[env.py: 1019]
+05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:31:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.8ms, total=178.9ms	[env.py: 1075]
+05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.948, 0.339, -0.006)	[env.py: 1079]
+05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.3 deg	[env.py: 1082]
+05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
+05/08 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:31:32 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/08 23:31:32 INFO: [Worker 0] Worker 0 house 1 episode 9/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:31:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:31:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:31:33 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:31:33 INFO: [Worker 0] Collision-checked 388 grasps in 0.075s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:31:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.602s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:31:33 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.539[m] 95.709[deg]	[grasp_sample.py: 539]
+05/08 23:31:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:31:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:31:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:31:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:31:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:31:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.55s (batch: 3.42s, save: 11.13s)	[pipeline.py: 300]
+05/08 23:31:35 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.43s:
+  episode_total: mean=177.72s, total=177.72s, count=1, min=177718.8ms, max=177718.8ms
+  sensor_polling: mean=449.9ms, total=131.83s, count=293, min=400.0ms, max=745.5ms
+  save_trajectories: mean=11.13s, total=11.13s, count=1, min=11128.6ms, max=11128.6ms
+  physics_step: mean=21.4ms, total=6.26s, count=293, min=13.7ms, max=57.4ms
+  save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3422.8ms, max=3422.8ms
+  task_sampling: mean=432.8ms, total=432.8ms, count=1, min=432.8ms, max=432.8ms
+  task_specific_sample: mean=428.3ms, total=428.3ms, count=1, min=428.3ms, max=428.3ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=565.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:31:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:31:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:31:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:31:37 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:31:37 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:31:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:31:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015911m	[env.py: 870]
+05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:31:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99609464  0.68274062 -0.01591086] yaw=-162.5deg	[env.py: 1019]
+05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07900973 -0.00894184 -0.01591086] yaw=143.0deg	[env.py: 1019]
+05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.23183385 -0.3093407  -0.01591086] yaw=135.2deg	[env.py: 1019]
+05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:31:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.5ms, total=108.5ms	[env.py: 1075]
+05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 0.683, -0.016)	[env.py: 1079]
+05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.5 deg	[env.py: 1082]
+05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
+05/08 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:31:37 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/08 23:31:37 INFO: [Worker 0] Worker 0 house 1 episode 9/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:31:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:31:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:31:37 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:31:38 INFO: [Worker 0] Collision-checked 388 grasps in 0.086s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:31:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.443s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:31:38 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.480[m] 85.092[deg]	[grasp_sample.py: 539]
+05/08 23:31:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:31:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:31:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:31:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:31:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:31:43 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.00s (batch: 4.53s, save: 8.47s)	[pipeline.py: 300]
+05/08 23:31:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:31:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:31:43 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.27s (batch: 4.66s, save: 8.61s)	[pipeline.py: 300]
+05/08 23:31:44 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.37s:
+  episode_total: mean=181.02s, total=181.02s, count=1, min=181019.0ms, max=181019.0ms
+  sensor_polling: mean=447.8ms, total=134.35s, count=300, min=388.6ms, max=651.0ms
+  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8471.4ms, max=8471.4ms
+  physics_step: mean=21.1ms, total=6.33s, count=300, min=13.2ms, max=55.3ms
+  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4533.4ms, max=4533.4ms
+  task_sampling: mean=366.2ms, total=366.2ms, count=1, min=366.2ms, max=366.2ms
+  task_specific_sample: mean=362.1ms, total=362.1ms, count=1, min=362.1ms, max=362.1ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=516.4us, 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]
+05/08 23:31:44 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.36s:
+  episode_total: mean=183.07s, total=183.07s, count=1, min=183066.9ms, max=183066.9ms
+  sensor_polling: mean=451.6ms, total=135.48s, count=300, min=387.1ms, max=783.4ms
+  save_trajectories: mean=8.61s, total=8.61s, count=1, min=8614.5ms, max=8614.5ms
+  physics_step: mean=20.6ms, total=6.19s, count=300, min=16.9ms, max=55.5ms
+  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4659.5ms, max=4659.5ms
+  task_sampling: mean=361.4ms, total=361.4ms, count=1, min=361.4ms, max=361.4ms
+  task_specific_sample: mean=357.7ms, total=357.7ms, count=1, min=357.7ms, max=357.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=370.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:31:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:31:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:31:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:31:45 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:31:45 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]
+05/08 23:31:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:31:45 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]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029527m	[env.py: 870]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:31:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:31:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:31:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.36239695  1.05603024  0.02952669] yaw=-125.8deg	[env.py: 1019]
+05/08 23:31:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:31:45 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:31:45 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]
+05/08 23:31:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:31:45 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]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033923m	[env.py: 870]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:31:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94354492  0.46434081  0.02952669] yaw=-178.9deg	[env.py: 1019]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.32595257  1.10561443  0.02952669] yaw=-135.1deg	[env.py: 1019]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:31:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.7ms, total=163.8ms	[env.py: 1075]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.362, 1.056, 0.030)	[env.py: 1079]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.8 deg	[env.py: 1082]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.770m	[env.py: 1086]
+05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10037801 -0.00917145  0.03392333] yaw=155.8deg	[env.py: 1019]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.28997854  1.22008537  0.03392333] yaw=-113.8deg	[env.py: 1019]
+05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.36768957  1.09681569  0.03392333] yaw=-128.6deg	[env.py: 1019]
+05/08 23:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:31:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=285.8ms, total=285.8ms	[env.py: 1075]
+05/08 23:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.100, -0.009, 0.034)	[env.py: 1079]
+05/08 23:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.8 deg	[env.py: 1082]
+05/08 23:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
+05/08 23:31:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:31:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:31:46 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/08 23:31:46 INFO: [Worker 0] Worker 0 house 1 episode 10/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:31:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:31:46 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]
+05/08 23:31:46 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:31:46 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/08 23:31:46 INFO: [Worker 0] Worker 0 house 1 episode 9/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:31:46 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:31:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:31:46 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]
+05/08 23:31:46 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:31:46 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:31:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.434s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:31:46 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.420[m] 82.002[deg]	[grasp_sample.py: 539]
+05/08 23:31:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:31:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.424s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:31:46 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.483[m] 86.860[deg]	[grasp_sample.py: 539]
+05/08 23:31:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:31:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:31:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:31:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:31:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:32:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:32:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:32:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:32:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:32:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:32:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:32:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:32:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:32:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:32:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:32:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:32:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:33:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:33:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:33:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:33:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:33:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:33:56 INFO: [Worker 0] Worker 0 house 1 episode 9 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:33:56 INFO: [Worker 0] Worker 0 house 1 episode 9 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:33:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:33:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:34:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:34:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/08 23:34:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/08 23:34:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:34:00 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:34:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.123s, found 320 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:34:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.167s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:34:03 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.045[m] 0.384[deg]	[grasp_sample.py: 539]
+05/08 23:34:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:34:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:34:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:34:08 INFO: [Worker 0] Worker 0 house 1 episode 9 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:34:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:34:17 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:34:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/08 23:34:17 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/08 23:34:17 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:34:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/08 23:34:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:34:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:34:20 INFO: [Worker 0] Worker 0 house 1 episode 10 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:34:28 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:34:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/08 23:34:28 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/08 23:34:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:34:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:34:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.52s (batch: 3.63s, save: 8.89s)	[pipeline.py: 300]
+05/08 23:34:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:34:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:34:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.04s (batch: 3.79s, save: 9.24s)	[pipeline.py: 300]
+05/08 23:34:30 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.50s:
+  episode_total: mean=178.22s, total=178.22s, count=1, min=178225.0ms, max=178225.0ms
+  sensor_polling: mean=444.9ms, total=133.46s, count=300, min=391.3ms, max=693.4ms
+  save_trajectories: mean=8.89s, total=8.89s, count=1, min=8888.5ms, max=8888.5ms
+  physics_step: mean=21.2ms, total=6.37s, count=300, min=16.9ms, max=78.6ms
+  save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3628.3ms, max=3628.3ms
+  task_sampling: mean=499.5ms, total=499.5ms, count=1, min=499.5ms, max=499.5ms
+  task_specific_sample: mean=491.6ms, total=491.6ms, count=1, min=491.6ms, max=491.6ms
+  scene_randomize: mean=6.5ms, total=6.5ms, count=1, min=6.5ms, max=6.5ms
+  mj_forward_sync: mean=444.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:34:31 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.35s:
+  episode_total: mean=173.61s, total=173.61s, count=1, min=173614.8ms, max=173614.8ms
+  sensor_polling: mean=442.1ms, total=129.08s, count=292, min=384.7ms, max=729.7ms
+  save_trajectories: mean=9.24s, total=9.24s, count=1, min=9244.0ms, max=9244.0ms
+  physics_step: mean=21.5ms, total=6.29s, count=292, min=13.8ms, max=99.3ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3792.0ms, max=3792.0ms
+  task_sampling: mean=347.8ms, total=347.8ms, count=1, min=347.8ms, max=347.8ms
+  task_specific_sample: mean=344.5ms, total=344.5ms, count=1, min=344.5ms, max=344.5ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=368.5us, 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]
+05/08 23:34:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:34:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:34:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:34:32 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:34:32 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:34:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:34:32 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]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044522m	[env.py: 870]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:34:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.11981396  0.81512304 -0.04452214] yaw=-161.1deg	[env.py: 1019]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02285363  0.08683319 -0.04452214] yaw=162.0deg	[env.py: 1019]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15985773  0.77254821 -0.04452214] yaw=-152.5deg	[env.py: 1019]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:34:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.9ms, total=110.9ms	[env.py: 1075]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.120, 0.815, -0.045)	[env.py: 1079]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg	[env.py: 1082]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.788m	[env.py: 1086]
+05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:34:32 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/08 23:34:32 INFO: [Worker 0] Worker 0 house 1 episode 10/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:34:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:34:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:34:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:34:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:34:32 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]
+05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:34:32 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:34:32 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:34:32 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:34:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:34:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048206m	[env.py: 870]
+05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:34:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:34:33 INFO: [Worker 0] Collision-checked 388 grasps in 0.103s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94260657  0.4823295  -0.04820647] yaw=-168.5deg	[env.py: 1019]
+05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89470138  0.07743397 -0.04820647] yaw=169.7deg	[env.py: 1019]
+05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.20805517 -0.25429651 -0.04820647] yaw=142.0deg	[env.py: 1019]
+05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:34:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=264.9ms, total=264.9ms	[env.py: 1075]
+05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.943, 0.482, -0.048)	[env.py: 1079]
+05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.5 deg	[env.py: 1082]
+05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
+05/08 23:34:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:34:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:34:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:34:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:34:33 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/08 23:34:33 INFO: [Worker 0] Worker 0 house 1 episode 10/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:34:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:34:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:34:33 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:34:33 INFO: [Worker 0] Collision-checked 388 grasps in 0.145s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:34:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.814s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:34:33 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.418[m] 79.402[deg]	[grasp_sample.py: 539]
+05/08 23:34:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:34:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:34:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:34:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.683s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:34:34 INFO: [Worker 0] Feasible grasp found 344 (originally 150): w/ 0.517[m] 89.476[deg]	[grasp_sample.py: 539]
+05/08 23:34:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:34:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:34:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:34:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:34:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:34:42 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.08s (batch: 4.54s, save: 9.54s)	[pipeline.py: 300]
+05/08 23:34:43 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.54s:
+  episode_total: mean=177.34s, total=177.34s, count=1, min=177344.0ms, max=177344.0ms
+  sensor_polling: mean=451.7ms, total=131.91s, count=292, min=401.7ms, max=677.8ms
+  save_trajectories: mean=9.54s, total=9.54s, count=1, min=9543.9ms, max=9543.9ms
+  physics_step: mean=21.0ms, total=6.12s, count=292, min=13.5ms, max=44.3ms
+  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4535.1ms, max=4535.1ms
+  task_sampling: mean=535.3ms, total=535.3ms, count=1, min=535.3ms, max=535.3ms
+  task_specific_sample: mean=531.1ms, total=531.1ms, count=1, min=531.1ms, max=531.1ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=527.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:34:44 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:34:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/08 23:34:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:34:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:34:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:34:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:34:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:34:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:34:44 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:34:44 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]
+05/08 23:34:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:34:44 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]
+05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005965m	[env.py: 870]
+05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:34:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.23568326 -0.28735185 -0.00596545] yaw=135.9deg	[env.py: 1019]
+05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.10276038  0.10320721 -0.00596545] yaw=149.4deg	[env.py: 1019]
+05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12197494  1.12436068 -0.00596545] yaw=-127.5deg	[env.py: 1019]
+05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:34:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=78.2ms, total=78.3ms	[env.py: 1075]
+05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.236, -0.287, -0.006)	[env.py: 1079]
+05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 135.9 deg	[env.py: 1082]
+05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/08 23:34:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:34:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:34:45 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/08 23:34:45 INFO: [Worker 0] Worker 0 house 1 episode 10/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:34:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:34:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:34:45 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:34:45 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:34:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.351s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:34:47 INFO: [Worker 0] Feasible grasp found 307 (originally 113): w/ 0.564[m] 89.208[deg]	[grasp_sample.py: 539]
+05/08 23:34:49 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/08 23:34:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:34:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:34:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:34:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:34:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:34:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:34:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:34:51 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:34:51 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]
+05/08 23:34:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:34:51 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]
+05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030025m	[env.py: 870]
+05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:34:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.20383634 -0.18639014 -0.0300246 ] yaw=124.2deg	[env.py: 1019]
+05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85789665  0.68348167 -0.0300246 ] yaw=-172.6deg	[env.py: 1019]
+05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99460142  0.00705492 -0.0300246 ] yaw=148.1deg	[env.py: 1019]
+05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:34:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.3ms, total=110.4ms	[env.py: 1075]
+05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.204, -0.186, -0.030)	[env.py: 1079]
+05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 124.2 deg	[env.py: 1082]
+05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m	[env.py: 1086]
+05/08 23:34:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:34:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:34:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:34:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:34:51 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/08 23:34:51 INFO: [Worker 0] Worker 0 house 1 episode 11/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:34:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:34:51 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]
+05/08 23:34:51 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:34:51 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:34:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.524s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:34:52 INFO: [Worker 0] Feasible grasp found 250 (originally 56): w/ 0.555[m] 93.084[deg]	[grasp_sample.py: 539]
+05/08 23:34:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:34:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:34:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:34:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:34:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:34:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.86s (batch: 4.21s, save: 8.65s)	[pipeline.py: 300]
+05/08 23:34:57 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.49s:
+  episode_total: mean=192.14s, total=192.14s, count=1, min=192143.3ms, max=192143.3ms
+  sensor_polling: mean=446.8ms, total=134.04s, count=300, min=367.9ms, max=756.6ms
+  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8653.2ms, max=8653.2ms
+  physics_step: mean=21.4ms, total=6.42s, count=300, min=13.5ms, max=57.0ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4210.7ms, max=4210.7ms
+  task_sampling: mean=488.8ms, total=488.8ms, count=1, min=488.8ms, max=488.8ms
+  task_specific_sample: mean=485.3ms, total=485.3ms, count=1, min=485.3ms, max=485.3ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=374.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:34:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:34:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:34:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:34:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:34:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:34:59 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:34:59 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]
+05/08 23:34:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:34:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.027m, effective arm-mount z=0.833m (base_body_z=-0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027477m	[env.py: 870]
+05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:34:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05264665 -0.02301846 -0.02747716] yaw=142.5deg	[env.py: 1019]
+05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07060648  0.41863339 -0.02747716] yaw=172.7deg	[env.py: 1019]
+05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12879135  0.22720181 -0.02747716] yaw=172.9deg	[env.py: 1019]
+05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:34:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=305.8ms, total=305.8ms	[env.py: 1075]
+05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.053, -0.023, -0.027)	[env.py: 1079]
+05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.5 deg	[env.py: 1082]
+05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
+05/08 23:34:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:34:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:34:59 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/08 23:34:59 INFO: [Worker 0] Worker 0 house 1 episode 11/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:35:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:35:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:35:00 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:35:00 INFO: [Worker 0] Collision-checked 388 grasps in 0.124s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:35:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.076s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:35:04 INFO: [Worker 0] Feasible grasp found 347 (originally 153): w/ 0.589[m] 96.912[deg]	[grasp_sample.py: 539]
+05/08 23:35:06 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/08 23:35:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:35:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:35:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:35:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:35:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:35:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:35:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:35:08 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:35:08 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]
+05/08 23:35:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:35:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016594m	[env.py: 870]
+05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:35:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94558263  0.45241642  0.01659358] yaw=-182.9deg	[env.py: 1019]
+05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.15962385  0.01260044  0.01659358] yaw=155.9deg	[env.py: 1019]
+05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.27990834 -0.34575293  0.01659358] yaw=113.9deg	[env.py: 1019]
+05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:35:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=416.6ms, total=416.6ms	[env.py: 1075]
+05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.452, 0.017)	[env.py: 1079]
+05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.9 deg	[env.py: 1082]
+05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/08 23:35:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:35:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:35:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:35:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:35:08 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/08 23:35:08 INFO: [Worker 0] Worker 0 house 1 episode 12/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:35:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:35:08 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]
+05/08 23:35:08 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:35:08 INFO: [Worker 0] Collision-checked 388 grasps in 0.083s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:35:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.988s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:35:09 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.456[m] 83.830[deg]	[grasp_sample.py: 539]
+05/08 23:35:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:35:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:35:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:35:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:35:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:35:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:35:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:35:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:35:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:35:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:35:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:35:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:36:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:36:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:36:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:36:47 INFO: [Worker 0] Worker 0 house 1 episode 10 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:36:57 INFO: [Worker 0] Worker 0 house 1 episode 10 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:37:05 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:37:05 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/08 23:37:05 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/08 23:37:11 INFO: [Worker 0] Worker 0 house 1 episode 11 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:37:15 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:37:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/08 23:37:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:37:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:37:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:37:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.52s (batch: 3.52s, save: 7.00s)	[pipeline.py: 300]
+05/08 23:37:16 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.44s:
+  episode_total: mean=163.69s, total=163.69s, count=1, min=163687.5ms, max=163687.5ms
+  sensor_polling: mean=445.5ms, total=124.30s, count=279, min=386.6ms, max=755.8ms
+  save_trajectories: mean=7.00s, total=7.00s, count=1, min=6998.6ms, max=6998.6ms
+  physics_step: mean=22.0ms, total=6.15s, count=279, min=16.5ms, max=56.0ms
+  save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3523.9ms, max=3523.9ms
+  task_sampling: mean=435.5ms, total=435.5ms, count=1, min=435.5ms, max=435.5ms
+  task_specific_sample: mean=427.8ms, total=427.8ms, count=1, min=427.8ms, max=427.8ms
+  scene_randomize: mean=6.2ms, total=6.2ms, count=1, min=6.2ms, max=6.2ms
+  mj_forward_sync: mean=470.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.7us, 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]
+05/08 23:37:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:37:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:37:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:37:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:37:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:37:17 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:37:17 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]
+05/08 23:37:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:37:17 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]
+05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025700m	[env.py: 870]
+05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:37:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.240143   -0.19466173  0.02570045] yaw=130.5deg	[env.py: 1019]
+05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94980852  0.89820608  0.02570045] yaw=-161.9deg	[env.py: 1019]
+05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94191961  0.90075494  0.02570045] yaw=-147.3deg	[env.py: 1019]
+05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:37:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.8ms, total=104.8ms	[env.py: 1075]
+05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.240, -0.195, 0.026)	[env.py: 1079]
+05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 130.5 deg	[env.py: 1082]
+05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
+05/08 23:37:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:37:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:37:17 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/08 23:37:17 INFO: [Worker 0] Worker 0 house 1 episode 11/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:37:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:37:17 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]
+05/08 23:37:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:37:18 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:37:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.373s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:37:19 INFO: [Worker 0] Feasible grasp found 250 (originally 56): w/ 0.546[m] 102.197[deg]	[grasp_sample.py: 539]
+05/08 23:37:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:37:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:37:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:37:24 INFO: [Worker 0] Worker 0 house 1 episode 12 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:37:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:37:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:37:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.04s (batch: 3.79s, save: 8.26s)	[pipeline.py: 300]
+05/08 23:37:28 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.54s:
+  episode_total: mean=175.30s, total=175.30s, count=1, min=175304.5ms, max=175304.5ms
+  sensor_polling: mean=442.9ms, total=132.86s, count=300, min=387.3ms, max=675.1ms
+  save_trajectories: mean=8.26s, total=8.26s, count=1, min=8256.9ms, max=8256.9ms
+  physics_step: mean=21.6ms, total=6.49s, count=300, min=16.9ms, max=52.9ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3785.8ms, max=3785.8ms
+  task_sampling: mean=536.2ms, total=536.2ms, count=1, min=536.2ms, max=536.2ms
+  task_specific_sample: mean=532.4ms, total=532.4ms, count=1, min=532.4ms, max=532.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=441.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:37:29 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:37:29 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/08 23:37:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:37:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:37:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:37:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:37:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:37:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:37:29 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:37:29 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]
+05/08 23:37:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:37:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036482m	[env.py: 870]
+05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:37:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.08265624  0.47163359  0.03648163] yaw=-187.0deg	[env.py: 1019]
+05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89751142  0.27017937  0.03648163] yaw=159.0deg	[env.py: 1019]
+05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88506273  0.06592258  0.03648163] yaw=170.1deg	[env.py: 1019]
+05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:37:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=63.2ms, total=63.2ms	[env.py: 1075]
+05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.083, 0.472, 0.036)	[env.py: 1079]
+05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -187.0 deg	[env.py: 1082]
+05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.723m	[env.py: 1086]
+05/08 23:37:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:37:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:37:30 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/08 23:37:30 INFO: [Worker 0] Worker 0 house 1 episode 11/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:37:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:37:30 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]
+05/08 23:37:30 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:37:30 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:37:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:37:30 INFO: [Worker 0] Feasible grasp found 348 (originally 154): w/ 0.355[m] 89.073[deg]	[grasp_sample.py: 539]
+05/08 23:37:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:37:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:37:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:37:33 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/08 23:37:33 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.70s:
+  episode_total: mean=83.72s, total=167.44s, count=2, min=5149.4ms, max=162288.6ms
+  sensor_polling: mean=432.8ms, total=129.84s, count=300, min=360.0ms, max=652.2ms
+  physics_step: mean=20.7ms, total=6.22s, count=300, min=13.5ms, max=51.6ms
+  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3799.5ms, max=3799.5ms
+  task_sampling: mean=348.0ms, total=695.9ms, count=2, min=322.8ms, max=373.1ms
+  task_specific_sample: mean=343.2ms, total=686.3ms, count=2, min=316.8ms, max=369.6ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=412.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:37:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:37:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:37:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:37:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:37:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:37:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:37:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:37:35 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:37:35 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:37:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:37:35 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]
+05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023888m	[env.py: 870]
+05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:37:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10122897  0.65234279  0.0238882 ] yaw=-152.2deg	[env.py: 1019]
+05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.31936797 -0.29673882  0.0238882 ] yaw=123.4deg	[env.py: 1019]
+05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.13373342  1.14925598  0.0238882 ] yaw=-124.5deg	[env.py: 1019]
+05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:37:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.3ms, total=92.3ms	[env.py: 1075]
+05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.101, 0.652, 0.024)	[env.py: 1079]
+05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.2 deg	[env.py: 1082]
+05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.739m	[env.py: 1086]
+05/08 23:37:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:37:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:37:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:37:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:37:35 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/08 23:37:35 INFO: [Worker 0] Worker 0 house 1 episode 12/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:37:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:37:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:37:35 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:37:35 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:37:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.377s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:37:36 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.389[m] 89.149[deg]	[grasp_sample.py: 539]
+05/08 23:37:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:37:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:37:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:37:43 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:37:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/08 23:37:43 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/08 23:37:46 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/08 23:37:46 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.22s:
+  episode_total: mean=82.84s, total=165.68s, count=2, min=6893.3ms, max=158787.1ms
+  sensor_polling: mean=432.1ms, total=123.59s, count=286, min=363.4ms, max=622.2ms
+  physics_step: mean=20.6ms, total=5.90s, count=286, min=16.6ms, max=39.2ms
+  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3756.3ms, max=3756.3ms
+  task_sampling: mean=609.1ms, total=1.22s, count=2, min=583.9ms, max=634.3ms
+  task_specific_sample: mean=605.2ms, total=1.21s, count=2, min=579.5ms, max=630.9ms
+  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.5ms, max=3.0ms
+  mj_forward_sync: mean=530.4us, total=1.1ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.3us, total=0.1ms, 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]
+05/08 23:37:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:37:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:37:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:37:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:37:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:37:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:37:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:37:48 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:37:48 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:37:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:37:48 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]
+05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046585m	[env.py: 870]
+05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:37:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.31466818  0.94237165 -0.04658543] yaw=-132.0deg	[env.py: 1019]
+05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.24469476 -0.13198791 -0.04658543] yaw=145.3deg	[env.py: 1019]
+05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.1343974   0.10178635 -0.04658543] yaw=159.3deg	[env.py: 1019]
+05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:37:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=344.6ms, total=344.6ms	[env.py: 1075]
+05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.315, 0.942, -0.047)	[env.py: 1079]
+05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.0 deg	[env.py: 1082]
+05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.712m	[env.py: 1086]
+05/08 23:37:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:37:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:37:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:37:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:37:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/08 23:37:49 INFO: [Worker 0] Worker 0 house 1 episode 13/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:37:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:37:49 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]
+05/08 23:37:49 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:37:49 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:37:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.411s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:37:49 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.452[m] 92.593[deg]	[grasp_sample.py: 539]
+05/08 23:37:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:37:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:37:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:38:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:38:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:38:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:38:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:38:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:38:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:38:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:38:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:38:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:38:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:38:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:38:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:39:32 INFO: [Worker 0] Worker 0 house 1 episode 11 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:39:33 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/08 23:39:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/08 23:39:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:39:33 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:39:33 INFO: [Worker 0] Collision-checked 388 grasps in 0.066s, found 322 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:39:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.378s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:39:34 INFO: [Worker 0] Feasible grasp found 309 (originally 115): w/ 0.096[m] 5.944[deg]	[grasp_sample.py: 539]
+05/08 23:39:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:39:34 INFO: [Worker 0] Worker 0 house 1 episode 11 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:39:42 INFO: [Worker 0] Worker 0 house 1 episode 12 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:39:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:39:49 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:39:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/08 23:39:49 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/08 23:39:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:39:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:39:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:39:53 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:39:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/08 23:39:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:39:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:39:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:39:57 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/08 23:39:57 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.37s:
+  episode_total: mean=159.54s, total=159.54s, count=1, min=159535.4ms, max=159535.4ms
+  sensor_polling: mean=423.8ms, total=127.14s, count=300, min=384.4ms, max=692.9ms
+  physics_step: mean=18.8ms, total=5.63s, count=300, min=16.7ms, max=30.5ms
+  save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3554.6ms, max=3554.6ms
+  task_sampling: mean=365.4ms, total=365.4ms, count=1, min=365.4ms, max=365.4ms
+  task_specific_sample: mean=362.0ms, total=362.0ms, count=1, min=362.0ms, max=362.0ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=366.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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]
+05/08 23:39:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:39:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:39:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:39:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:39:58 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:39:58 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]
+05/08 23:39:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:39:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001062m	[env.py: 870]
+05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:39:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09658164e+00 -2.28200761e-01 -1.06213563e-03] yaw=141.9deg	[env.py: 1019]
+05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96293961 -0.10264421 -0.00106214] yaw=155.6deg	[env.py: 1019]
+05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06270696e+00  6.05167912e-02 -1.06213563e-03] yaw=149.1deg	[env.py: 1019]
+05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:39:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=88.8ms, total=88.8ms	[env.py: 1075]
+05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.097, -0.228, -0.001)	[env.py: 1079]
+05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 141.9 deg	[env.py: 1082]
+05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
+05/08 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:39:58 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/08 23:39:58 INFO: [Worker 0] Worker 0 house 1 episode 12/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:39:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:39:58 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]
+05/08 23:39:58 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:39:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:39:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/08 23:39:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/08 23:39:59 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]
+05/08 23:39:59 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:39:59 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:39:59 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 322 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:40:00 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:40:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/08 23:40:00 INFO: [Worker 0] Preparing episode data: 277 timesteps	[save_utils.py: 278]
+05/08 23:40:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.321s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:40:00 INFO: [Worker 0] Feasible grasp found 307 (originally 113): w/ 0.576[m] 85.255[deg]	[grasp_sample.py: 539]
+05/08 23:40:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:40:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.327s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:40:00 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.085[m] 0.387[deg]	[grasp_sample.py: 539]
+05/08 23:40:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:40:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:40:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:40:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.65s (batch: 3.54s, save: 7.11s)	[pipeline.py: 300]
+05/08 23:40:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:40:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:40:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:40:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:40:01 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.33s:
+  episode_total: mean=151.38s, total=151.38s, count=1, min=151384.9ms, max=151384.9ms
+  sensor_polling: mean=426.1ms, total=113.34s, count=266, min=399.0ms, max=704.9ms
+  save_trajectories: mean=7.11s, total=7.11s, count=1, min=7109.0ms, max=7109.0ms
+  physics_step: mean=21.6ms, total=5.74s, count=266, min=13.8ms, max=30.3ms
+  save_batch_prep: mean=3.54s, total=3.54s, count=1, min=3537.3ms, max=3537.3ms
+  task_sampling: mean=327.9ms, total=327.9ms, count=1, min=327.9ms, max=327.9ms
+  task_specific_sample: mean=324.5ms, total=324.5ms, count=1, min=324.5ms, max=324.5ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=364.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:40:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:40:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:40:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:40:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:40:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:40:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:40:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:40:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:40:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012815m	[env.py: 870]
+05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:40:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8144886   0.43836087  0.01281482] yaw=-184.5deg	[env.py: 1019]
+05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.15040549  0.72955907  0.01281482] yaw=-158.9deg	[env.py: 1019]
+05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.26454144  0.89218424  0.01281482] yaw=-137.3deg	[env.py: 1019]
+05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:40:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.5ms, total=177.5ms	[env.py: 1075]
+05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.814, 0.438, 0.013)	[env.py: 1079]
+05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -184.5 deg	[env.py: 1082]
+05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m	[env.py: 1086]
+05/08 23:40:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:40:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:40:03 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/08 23:40:03 INFO: [Worker 0] Worker 0 house 1 episode 12/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:40:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:40:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:40:03 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:40:03 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:40:03 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/08 23:40:04 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.41s:
+  episode_total: mean=148.92s, total=148.92s, count=1, min=148921.2ms, max=148921.2ms
+  sensor_polling: mean=427.8ms, total=118.08s, count=276, min=384.9ms, max=665.9ms
+  physics_step: mean=21.0ms, total=5.79s, count=276, min=14.3ms, max=31.0ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3894.4ms, max=3894.4ms
+  task_sampling: mean=409.9ms, total=409.9ms, count=1, min=409.9ms, max=409.9ms
+  task_specific_sample: mean=406.1ms, total=406.1ms, count=1, min=406.1ms, max=406.1ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=367.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:40:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:40:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:40:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:40:05 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:40:05 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]
+05/08 23:40:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:40:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040228m	[env.py: 870]
+05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:40:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10470985  0.28008565  0.0402278 ] yaw=165.5deg	[env.py: 1019]
+05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06659631  0.27577263  0.0402278 ] yaw=178.7deg	[env.py: 1019]
+05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.28789966 -0.23971946  0.0402278 ] yaw=135.7deg	[env.py: 1019]
+05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:40:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.4ms, total=117.5ms	[env.py: 1075]
+05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.105, 0.280, 0.040)	[env.py: 1079]
+05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.5 deg	[env.py: 1082]
+05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.715m	[env.py: 1086]
+05/08 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:40:06 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/08 23:40:06 INFO: [Worker 0] Worker 0 house 1 episode 13/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:40:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:40:06 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]
+05/08 23:40:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:40:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.083s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:40:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.397s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:40:06 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.335[m] 86.238[deg]	[grasp_sample.py: 539]
+05/08 23:40:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:40:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:40:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:40:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.778s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:40:07 INFO: [Worker 0] Feasible grasp found 347 (originally 153): w/ 0.572[m] 84.426[deg]	[grasp_sample.py: 539]
+05/08 23:40:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:40:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:40:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:40:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:40:13 INFO: [Worker 0] Worker 0 house 1 episode 13 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:40:31 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:40:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/08 23:40:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:40:35 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/08 23:40:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:40:35 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.59s:
+  episode_total: mean=167.14s, total=167.14s, count=1, min=167138.6ms, max=167138.6ms
+  sensor_polling: mean=422.0ms, total=126.60s, count=300, min=371.6ms, max=647.6ms
+  physics_step: mean=18.9ms, total=5.66s, count=300, min=13.4ms, max=31.4ms
+  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3896.1ms, max=3896.1ms
+  task_sampling: mean=590.6ms, total=590.6ms, count=1, min=590.6ms, max=590.6ms
+  task_specific_sample: mean=587.2ms, total=587.2ms, count=1, min=587.2ms, max=587.2ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=372.9us, 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]
+05/08 23:40:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:40:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:40:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:40:37 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:40:37 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:40:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:40:37 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]
+05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043399m	[env.py: 870]
+05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:40:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87681007  0.46112495 -0.04339865] yaw=-168.6deg	[env.py: 1019]
+05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0097687  -0.083413   -0.04339865] yaw=143.8deg	[env.py: 1019]
+05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00667629  0.14091886 -0.04339865] yaw=153.5deg	[env.py: 1019]
+05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:40:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.4ms, total=190.5ms	[env.py: 1075]
+05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.461, -0.043)	[env.py: 1079]
+05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.6 deg	[env.py: 1082]
+05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
+05/08 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:40:37 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/08 23:40:37 INFO: [Worker 0] Worker 0 house 1 episode 14/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:40:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:40:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:40:37 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:40:37 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:40:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.435s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:40:39 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.608[m] 99.461[deg]	[grasp_sample.py: 539]
+05/08 23:40:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:40:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:40:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:40:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:40:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:40:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:40:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:40:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:41:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:41:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:41:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:41:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:41:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:41:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:42:16 INFO: [Worker 0] Worker 0 house 1 episode 12 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:42:18 INFO: [Worker 0] Worker 0 house 1 episode 13 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:42:22 INFO: [Worker 0] Worker 0 house 1 episode 12 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:42:40 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:42:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/08 23:42:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:42:40 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:42:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/08 23:42:40 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/08 23:42:46 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:42:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/08 23:42:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:42:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:42:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:42:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.86s (batch: 3.64s, save: 7.22s)	[pipeline.py: 300]
+05/08 23:42:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:42:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:42:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.42s (batch: 3.78s, save: 7.64s)	[pipeline.py: 300]
+05/08 23:42:52 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.43s:
+  episode_total: mean=166.51s, total=166.51s, count=1, min=166505.2ms, max=166505.2ms
+  sensor_polling: mean=424.3ms, total=111.17s, count=262, min=394.3ms, max=666.2ms
+  save_trajectories: mean=7.22s, total=7.22s, count=1, min=7216.8ms, max=7216.8ms
+  physics_step: mean=19.6ms, total=5.13s, count=262, min=13.6ms, max=28.7ms
+  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3644.4ms, max=3644.4ms
+  task_sampling: mean=426.3ms, total=426.3ms, count=1, min=426.3ms, max=426.3ms
+  task_specific_sample: mean=423.1ms, total=423.1ms, count=1, min=423.1ms, max=423.1ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=368.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:42:52 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.39s:
+  episode_total: mean=173.87s, total=173.87s, count=1, min=173874.0ms, max=173874.0ms
+  sensor_polling: mean=424.4ms, total=127.31s, count=300, min=391.6ms, max=679.2ms
+  save_trajectories: mean=7.64s, total=7.64s, count=1, min=7644.8ms, max=7644.8ms
+  physics_step: mean=19.7ms, total=5.92s, count=300, min=13.7ms, max=32.8ms
+  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3775.1ms, max=3775.1ms
+  task_sampling: mean=386.2ms, total=386.2ms, count=1, min=386.2ms, max=386.2ms
+  task_specific_sample: mean=383.1ms, total=383.1ms, count=1, min=383.1ms, max=383.1ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=363.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:42:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:42:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:42:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:42:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:42:53 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]
+05/08 23:42:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:42:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003627m	[env.py: 870]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:42:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.30377409  1.01382977  0.00362661] yaw=-131.1deg	[env.py: 1019]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95429058  0.34157128  0.00362661] yaw=182.5deg	[env.py: 1019]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94231165  0.89546179  0.00362661] yaw=-154.2deg	[env.py: 1019]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:42:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.6ms, total=106.6ms	[env.py: 1075]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.304, 1.014, 0.004)	[env.py: 1079]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.1 deg	[env.py: 1082]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.773m	[env.py: 1086]
+05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:42:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:42:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:42:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:42:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:42:53 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]
+05/08 23:42:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:42:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031851m	[env.py: 870]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:42:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:42:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/08 23:42:53 INFO: [Worker 0] Worker 0 house 1 episode 14/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91928967  0.65332035  0.03185144] yaw=-171.0deg	[env.py: 1019]
+05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91755311  0.7263677   0.03185144] yaw=-164.6deg	[env.py: 1019]
+05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.01644873  0.87005697  0.03185144] yaw=-147.6deg	[env.py: 1019]
+05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:42:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.1ms, total=145.2ms	[env.py: 1075]
+05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.653, 0.032)	[env.py: 1079]
+05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.0 deg	[env.py: 1082]
+05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
+05/08 23:42:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:42:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:42:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:42:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:42:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:42:54 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]
+05/08 23:42:54 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:42:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.078s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:42:54 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/08 23:42:54 INFO: [Worker 0] Worker 0 house 1 episode 13/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:42:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:42:54 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]
+05/08 23:42:54 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:42:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.089s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:42:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.460s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:42:54 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.474[m] 92.363[deg]	[grasp_sample.py: 539]
+05/08 23:42:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:42:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.509s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:42:55 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.494[m] 84.928[deg]	[grasp_sample.py: 539]
+05/08 23:42:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:42:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:42:56 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/08 23:42:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:42:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:42:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:42:57 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:42:57 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]
+05/08 23:42:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:42:57 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]
+05/08 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020118m	[env.py: 870]
+05/08 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:42:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0262633   0.83221324  0.02011836] yaw=-156.0deg	[env.py: 1019]
+05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86772582  0.09656947  0.02011836] yaw=150.1deg	[env.py: 1019]
+05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.21461812 -0.07459062  0.02011836] yaw=135.5deg	[env.py: 1019]
+05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:42:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=326.2ms, total=326.3ms	[env.py: 1075]
+05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.026, 0.832, 0.020)	[env.py: 1079]
+05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.0 deg	[env.py: 1082]
+05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
+05/08 23:42:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:42:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:42:58 INFO: [Worker 0] Worker 0 house 1 episode 14 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:42:58 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/08 23:42:58 INFO: [Worker 0] Worker 0 house 1 episode 14/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:42:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:42:58 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]
+05/08 23:42:58 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:42:58 INFO: [Worker 0] Collision-checked 388 grasps in 0.172s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:42:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:42:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:42:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.62s (batch: 3.78s, save: 8.84s)	[pipeline.py: 300]
+05/08 23:42:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.988s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:42:59 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.527[m] 90.963[deg]	[grasp_sample.py: 539]
+05/08 23:42:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:43:00 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.44s:
+  episode_total: mean=177.30s, total=177.30s, count=1, min=177297.7ms, max=177297.7ms
+  sensor_polling: mean=423.6ms, total=127.07s, count=300, min=379.6ms, max=664.7ms
+  save_trajectories: mean=8.84s, total=8.84s, count=1, min=8842.1ms, max=8842.1ms
+  physics_step: mean=20.0ms, total=6.00s, count=300, min=13.6ms, max=28.6ms
+  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3778.6ms, max=3778.6ms
+  task_sampling: mean=438.7ms, total=438.7ms, count=1, min=438.7ms, max=438.7ms
+  task_specific_sample: mean=435.1ms, total=435.1ms, count=1, min=435.1ms, max=435.1ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=403.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:43:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:43:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:43:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:43:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:43:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:43:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:43:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:43:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:43:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:43:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:43:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036095m	[env.py: 870]
+05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:43:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99473698 -0.13490677  0.0360945 ] yaw=148.7deg	[env.py: 1019]
+05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9555349  0.1209737  0.0360945] yaw=159.3deg	[env.py: 1019]
+05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89402094  0.06939185  0.0360945 ] yaw=155.6deg	[env.py: 1019]
+05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:43:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.9ms, total=114.0ms	[env.py: 1075]
+05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.995, -0.135, 0.036)	[env.py: 1079]
+05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.7 deg	[env.py: 1082]
+05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
+05/08 23:43:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:43:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:43:02 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/08 23:43:02 INFO: [Worker 0] Worker 0 house 1 episode 13/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:43:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.160s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:43:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:43:02 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:43:02 INFO: [Worker 0] Collision-checked 388 grasps in 0.131s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:43:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.641s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:43:07 INFO: [Worker 0] Feasible grasp found 317 (originally 123): w/ 0.605[m] 87.912[deg]	[grasp_sample.py: 539]
+05/08 23:43:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:43:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:43:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:43:22 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:43:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/08 23:43:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:43:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:43:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:43:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.34s (batch: 3.92s, save: 9.42s)	[pipeline.py: 300]
+05/08 23:43:36 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.44s:
+  episode_total: mean=179.02s, total=179.02s, count=1, min=179021.4ms, max=179021.4ms
+  sensor_polling: mean=432.3ms, total=129.69s, count=300, min=369.1ms, max=659.3ms
+  save_trajectories: mean=9.42s, total=9.42s, count=1, min=9419.2ms, max=9419.2ms
+  physics_step: mean=21.3ms, total=6.38s, count=300, min=14.0ms, max=51.9ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3916.6ms, max=3916.6ms
+  task_sampling: mean=438.3ms, total=438.3ms, count=1, min=438.3ms, max=438.3ms
+  task_specific_sample: mean=435.0ms, total=435.0ms, count=1, min=435.0ms, max=435.0ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=370.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:43:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:43:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:43:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:43:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:43:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:43:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:43:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:43:38 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:43:38 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:43:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:43:38 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]
+05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049434m	[env.py: 870]
+05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:43:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.10564881e+00  1.09075664e-03  4.94342476e-02] yaw=148.3deg	[env.py: 1019]
+05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.1489635  -0.27417348  0.04943425] yaw=121.7deg	[env.py: 1019]
+05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.14089505  1.11730603  0.04943425] yaw=-138.6deg	[env.py: 1019]
+05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:43:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=475.8ms, total=475.9ms	[env.py: 1075]
+05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.106, 0.001, 0.049)	[env.py: 1079]
+05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.3 deg	[env.py: 1082]
+05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/08 23:43:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:43:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:43:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:43:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:43:38 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/08 23:43:38 INFO: [Worker 0] Worker 0 house 1 episode 15/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:43:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.156s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:43:39 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]
+05/08 23:43:39 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:43:39 INFO: [Worker 0] Collision-checked 388 grasps in 0.107s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:43:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.915s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:43:40 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.445[m] 86.727[deg]	[grasp_sample.py: 539]
+05/08 23:43:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:43:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:43:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:43:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:43:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:43:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:43:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:44:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:44:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:44:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:44:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
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
new file mode 100644
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diff --git a/fridge1_minimal_wall/trajectories_batch_2_of_4_cam_rand.h5 b/fridge1_minimal_wall/trajectories_batch_2_of_4_cam_rand.h5
new file mode 100644
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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
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diff --git a/fridge1_minimal_wall/trajectories_batch_4_of_4_cam_rand.h5 b/fridge1_minimal_wall/trajectories_batch_4_of_4_cam_rand.h5
new file mode 100644
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