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+++ b/fridge1_minimal_wall/episode_00000026_wrist_camera_batch_4_of_4_cam_rand.mp4
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diff --git a/fridge1_minimal_wall/episode_00000026_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000026_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
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+++ b/fridge1_minimal_wall/episode_00000026_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
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diff --git a/fridge1_minimal_wall/episode_00000026_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000026_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
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+++ b/fridge1_minimal_wall/episode_00000026_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
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diff --git a/fridge1_minimal_wall/running_log.log b/fridge1_minimal_wall/running_log.log
index 90a4f3b4c143cf3e056a4920088506cae510d889..d1c608fce67fedf522860c8a08503b5a5a0c2ee8 100644
--- a/fridge1_minimal_wall/running_log.log
+++ b/fridge1_minimal_wall/running_log.log
@@ -5039,3 +5039,5455 @@
 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]
+05/08 23:44:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:44:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:44:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:44:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:44:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:44:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:45:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:45:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:45:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:45:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:45:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:45:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:45:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/08 23:45:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/08 23:45:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:45:11 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:45:11 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 324 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:45:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.077s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:45:16 INFO: [Worker 0] Feasible grasp found 104 (originally 104): w/ 0.142[m] 3.948[deg]	[grasp_sample.py: 539]
+05/08 23:45:17 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/08 23:45:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:45:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:45:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:45:19 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:45:19 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:45:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:45:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038822m	[env.py: 870]
+05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:45:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9314983   0.14787275 -0.03882174] yaw=173.8deg	[env.py: 1019]
+05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02427287 -0.05211091 -0.03882174] yaw=157.2deg	[env.py: 1019]
+05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98756046 -0.12845123 -0.03882174] yaw=135.7deg	[env.py: 1019]
+05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:45:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.8ms, total=168.9ms	[env.py: 1075]
+05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.148, -0.039)	[env.py: 1079]
+05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.8 deg	[env.py: 1082]
+05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/08 23:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:45:19 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/08 23:45:19 INFO: [Worker 0] Worker 0 house 1 episode 15/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:45:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:45:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:45:19 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:45:19 INFO: [Worker 0] Collision-checked 388 grasps in 0.075s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:45:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.849s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:45:21 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.534[m] 80.924[deg]	[grasp_sample.py: 539]
+05/08 23:45:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:45:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:45:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:45:24 INFO: [Worker 0] Worker 0 house 1 episode 14 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:45:34 INFO: [Worker 0] Worker 0 house 1 episode 13 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:45:48 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:45:48 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/08 23:45:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:45:54 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:45:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/08 23:45:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:45:56 INFO: [Worker 0] Worker 0 house 1 episode 15 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:46:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:46:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:46:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.97s (batch: 3.61s, save: 8.36s)	[pipeline.py: 300]
+05/08 23:46:00 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.06s:
+  episode_total: mean=92.64s, total=185.29s, count=2, min=2259.0ms, max=183028.4ms
+  sensor_polling: mean=449.7ms, total=134.92s, count=300, min=395.2ms, max=741.7ms
+  save_trajectories: mean=8.36s, total=8.36s, count=1, min=8356.6ms, max=8356.6ms
+  physics_step: mean=21.3ms, total=6.39s, count=300, min=16.9ms, max=62.6ms
+  save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3610.9ms, max=3610.9ms
+  task_sampling: mean=532.1ms, total=1.06s, count=2, min=394.0ms, max=670.2ms
+  task_specific_sample: mean=528.6ms, total=1.06s, count=2, min=390.3ms, max=667.0ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.6ms
+  mj_forward_sync: mean=427.8us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:46:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:46:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:46:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:46:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:46:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:46:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:46:02 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 23:46:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:46:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042966m	[env.py: 870]
+05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:46:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87627895  0.20119323  0.04296576] yaw=175.5deg	[env.py: 1019]
+05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87255549  0.61849223  0.04296576] yaw=-159.3deg	[env.py: 1019]
+05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.05550531  0.75446619  0.04296576] yaw=-150.7deg	[env.py: 1019]
+05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:46:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=252.7ms, total=252.8ms	[env.py: 1075]
+05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.876, 0.201, 0.043)	[env.py: 1079]
+05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.5 deg	[env.py: 1082]
+05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
+05/08 23:46:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:46:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:46:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/08 23:46:02 INFO: [Worker 0] Worker 0 house 1 episode 15/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:46:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:46:03 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 23:46:03 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:46:03 INFO: [Worker 0] Collision-checked 388 grasps in 0.075s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:46:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.240s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:46:04 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.562[m] 86.896[deg]	[grasp_sample.py: 539]
+05/08 23:46:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:46:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:46:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:46:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:46:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:46:08 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.67s (batch: 3.88s, save: 9.79s)	[pipeline.py: 300]
+05/08 23:46:09 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.42s:
+  episode_total: mean=187.33s, total=187.33s, count=1, min=187330.6ms, max=187330.6ms
+  sensor_polling: mean=456.4ms, total=136.92s, count=300, min=400.4ms, max=774.9ms
+  save_trajectories: mean=9.79s, total=9.79s, count=1, min=9787.5ms, max=9787.5ms
+  physics_step: mean=22.8ms, total=6.83s, count=300, min=17.0ms, max=54.3ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3879.8ms, max=3879.8ms
+  task_sampling: mean=416.6ms, total=416.6ms, count=1, min=416.6ms, max=416.6ms
+  task_specific_sample: mean=412.8ms, total=412.8ms, count=1, min=412.8ms, max=412.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=440.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.9us, 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 23:46:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:46:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:46:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:46:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:46:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:46:11 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:46:11 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:46:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:46:11 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 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019894m	[env.py: 870]
+05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:46:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:46:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1719587   1.14347006  0.01989401] yaw=-129.8deg	[env.py: 1019]
+05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.16880262  0.74849342  0.01989401] yaw=-149.6deg	[env.py: 1019]
+05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01770563  0.33201113  0.01989401] yaw=173.6deg	[env.py: 1019]
+05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:46:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=229.6ms, total=229.7ms	[env.py: 1075]
+05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.172, 1.143, 0.020)	[env.py: 1079]
+05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.8 deg	[env.py: 1082]
+05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
+05/08 23:46:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:46:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:46:11 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/08 23:46:11 INFO: [Worker 0] Worker 0 house 1 episode 14/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:46:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:46:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:46:11 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:46:11 INFO: [Worker 0] Collision-checked 388 grasps in 0.090s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:46:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.693s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:46:14 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.580[m] 86.572[deg]	[grasp_sample.py: 539]
+05/08 23:46:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:46:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:46:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:46:20 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:46:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/08 23:46:20 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
+05/08 23:46:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:46:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:46:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:46:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:46:31 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.51s (batch: 3.91s, save: 7.59s)	[pipeline.py: 300]
+05/08 23:46:32 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.78s:
+  episode_total: mean=174.42s, total=174.42s, count=1, min=174416.1ms, max=174416.1ms
+  sensor_polling: mean=447.8ms, total=127.17s, count=284, min=388.1ms, max=710.7ms
+  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7590.6ms, max=7590.6ms
+  physics_step: mean=20.9ms, total=5.93s, count=284, min=16.8ms, max=49.9ms
+  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3914.7ms, max=3914.7ms
+  task_sampling: mean=776.8ms, total=776.8ms, count=1, min=776.8ms, max=776.8ms
+  task_specific_sample: mean=773.5ms, total=773.5ms, count=1, min=773.5ms, max=773.5ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=436.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:46:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:46:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:46:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:46:34 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:46:34 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:46:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:46:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009611m	[env.py: 870]
+05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:46:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.2683481  -0.23023846  0.00961075] yaw=128.4deg	[env.py: 1019]
+05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14216154 -0.3089183   0.00961075] yaw=127.8deg	[env.py: 1019]
+05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.075957    0.37200318  0.00961075] yaw=177.3deg	[env.py: 1019]
+05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:46:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=73.3ms, total=73.3ms	[env.py: 1075]
+05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.268, -0.230, 0.010)	[env.py: 1079]
+05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 128.4 deg	[env.py: 1082]
+05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
+05/08 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:46:34 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/08 23:46:34 INFO: [Worker 0] Worker 0 house 1 episode 16/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:46:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:46:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:46:34 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:46:34 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:46:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.502s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:46:35 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.518[m] 89.457[deg]	[grasp_sample.py: 539]
+05/08 23:46:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:46:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:46:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:46:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:47:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:47:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:47:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:47:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:47:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:47:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:47:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:47:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:47:44 INFO: [Worker 0] Worker 0 house 1 episode 15 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:48:03 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:48:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/08 23:48:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:48:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:48:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:48:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.88s (batch: 3.87s, save: 9.00s)	[pipeline.py: 300]
+05/08 23:48:17 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.79s:
+  episode_total: mean=160.97s, total=321.93s, count=2, min=144287.2ms, max=177643.8ms
+  sensor_polling: mean=443.7ms, total=249.78s, count=563, min=365.9ms, max=764.4ms
+  physics_step: mean=22.5ms, total=12.68s, count=563, min=13.6ms, max=58.9ms
+  save_trajectories: mean=9.00s, total=9.00s, count=1, min=9003.6ms, max=9003.6ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3874.1ms, max=3874.1ms
+  task_sampling: mean=397.3ms, total=794.7ms, count=2, min=389.8ms, max=404.9ms
+  task_specific_sample: mean=393.2ms, total=786.5ms, count=2, min=386.1ms, max=400.4ms
+  scene_randomize: mean=2.5ms, total=5.1ms, count=2, min=2.0ms, max=3.1ms
+  mj_forward_sync: mean=464.7us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:48:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:48:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:48:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:48:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:48:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:48:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:48:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:48:18 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:48:18 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:48:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:48:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042036m	[env.py: 870]
+05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:48:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09158979  0.51411607  0.04203631] yaw=-163.6deg	[env.py: 1019]
+05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88610422  0.21995792  0.04203631] yaw=178.6deg	[env.py: 1019]
+05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.25923945 -0.10028839  0.04203631] yaw=132.0deg	[env.py: 1019]
+05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:48:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=77.1ms, total=77.1ms	[env.py: 1075]
+05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.092, 0.514, 0.042)	[env.py: 1079]
+05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.6 deg	[env.py: 1082]
+05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.718m	[env.py: 1086]
+05/08 23:48:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:48:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:48:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:48:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:48:19 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/08 23:48:19 INFO: [Worker 0] Worker 0 house 1 episode 16/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:48:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:48:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:48:19 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:48:19 INFO: [Worker 0] Collision-checked 388 grasps in 0.085s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:48:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.452s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:48:19 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.343[m] 91.953[deg]	[grasp_sample.py: 539]
+05/08 23:48:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:48:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:48:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:48:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:48:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:48:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:48:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:48:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:48:28 INFO: [Worker 0] Worker 0 house 1 episode 15 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:48:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:48:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:48:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/08 23:48:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/08 23:48:32 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 23:48:32 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:48:32 INFO: [Worker 0] Collision-checked 388 grasps in 0.067s, found 322 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:48:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.475s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:48:34 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.047[m] 0.296[deg]	[grasp_sample.py: 539]
+05/08 23:48:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:48:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:48:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:48:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:48:47 INFO: [Worker 0] Worker 0 house 1 episode 14 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:48:51 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:48:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/08 23:48:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:48:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:48:58 INFO: [Worker 0] Worker 0 house 1 episode 16 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:49:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:49:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:49:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:49:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.16s (batch: 3.59s, save: 7.57s)	[pipeline.py: 300]
+05/08 23:49:03 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.52s:
+  episode_total: mean=181.17s, total=181.17s, count=1, min=181172.1ms, max=181172.1ms
+  sensor_polling: mean=445.7ms, total=133.70s, count=300, min=385.8ms, max=812.9ms
+  save_trajectories: mean=7.57s, total=7.57s, count=1, min=7566.9ms, max=7566.9ms
+  physics_step: mean=23.1ms, total=6.93s, count=300, min=16.6ms, max=55.1ms
+  save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3591.0ms, max=3591.0ms
+  task_sampling: mean=515.4ms, total=515.4ms, count=1, min=515.4ms, max=515.4ms
+  task_specific_sample: mean=511.2ms, total=511.2ms, count=1, min=511.2ms, max=511.2ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=538.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:49:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:49:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:49:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:49:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:49:05 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:49:05 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 23:49:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:49:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036301m	[env.py: 870]
+05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:49:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14636588  1.08299865 -0.03630099] yaw=-142.7deg	[env.py: 1019]
+05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89354764  0.71486464 -0.03630099] yaw=-171.9deg	[env.py: 1019]
+05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86583529  0.5223064  -0.03630099] yaw=-168.9deg	[env.py: 1019]
+05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:49:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=83.9ms, total=83.9ms	[env.py: 1075]
+05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.146, 1.083, -0.036)	[env.py: 1079]
+05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.7 deg	[env.py: 1082]
+05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m	[env.py: 1086]
+05/08 23:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:49:05 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/08 23:49:05 INFO: [Worker 0] Worker 0 house 1 episode 16/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:49:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:49:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:49:05 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:49:05 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:49:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.591s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:49:06 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.604[m] 82.483[deg]	[grasp_sample.py: 539]
+05/08 23:49:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:49:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:49:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:49:07 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:49:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/08 23:49:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:49:21 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:49:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/08 23:49:21 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
+05/08 23:49:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:49:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:49:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.67s (batch: 3.93s, save: 10.73s)	[pipeline.py: 300]
+05/08 23:49:22 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.53s:
+  episode_total: mean=191.91s, total=191.91s, count=1, min=191905.3ms, max=191905.3ms
+  sensor_polling: mean=445.4ms, total=133.61s, count=300, min=393.6ms, max=703.4ms
+  save_trajectories: mean=10.73s, total=10.73s, count=1, min=10734.4ms, max=10734.4ms
+  physics_step: mean=20.9ms, total=6.26s, count=300, min=16.8ms, max=54.9ms
+  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3932.2ms, max=3932.2ms
+  task_sampling: mean=531.7ms, total=531.7ms, count=1, min=531.7ms, max=531.7ms
+  task_specific_sample: mean=524.0ms, total=524.0ms, count=1, min=524.0ms, max=524.0ms
+  mj_forward_sync: mean=4.6ms, total=4.6ms, count=1, min=4.6ms, max=4.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  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 23:49:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:49:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:49:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:49:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:49:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:49:24 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:49:24 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 23:49:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:49:24 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 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037918m	[env.py: 870]
+05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:49:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.11987945  0.62192347  0.03791786] yaw=-162.7deg	[env.py: 1019]
+05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0538246  -0.15399061  0.03791786] yaw=150.5deg	[env.py: 1019]
+05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.20600538  1.05082829  0.03791786] yaw=-126.8deg	[env.py: 1019]
+05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:49:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.0ms, total=156.0ms	[env.py: 1075]
+05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.120, 0.622, 0.038)	[env.py: 1079]
+05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.7 deg	[env.py: 1082]
+05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.712m	[env.py: 1086]
+05/08 23:49:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:49:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:49:25 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/08 23:49:25 INFO: [Worker 0] Worker 0 house 1 episode 15/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:49:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:49:25 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 23:49:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:49:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:49:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:49:25 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.359[m] 88.616[deg]	[grasp_sample.py: 539]
+05/08 23:49:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:49:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:49:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:49:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:49:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:49:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.42s (batch: 4.29s, save: 8.13s)	[pipeline.py: 300]
+05/08 23:49:34 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.35s:
+  episode_total: mean=180.58s, total=180.58s, count=1, min=180578.5ms, max=180578.5ms
+  sensor_polling: mean=451.1ms, total=134.44s, count=298, min=385.7ms, max=827.2ms
+  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8129.1ms, max=8129.1ms
+  physics_step: mean=20.9ms, total=6.24s, count=298, min=15.7ms, max=95.0ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4294.9ms, max=4294.9ms
+  task_sampling: mean=351.1ms, total=351.1ms, count=1, min=351.1ms, max=351.1ms
+  task_specific_sample: mean=347.6ms, total=347.6ms, count=1, min=347.6ms, max=347.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=358.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:49:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:49:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:49:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:49:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:49:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:49:36 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:49:36 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 23:49:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:49:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040155m	[env.py: 870]
+05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:49:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88390002  0.17474514 -0.04015482] yaw=161.9deg	[env.py: 1019]
+05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00745614  0.72859268 -0.04015482] yaw=-148.6deg	[env.py: 1019]
+05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08019478  0.94502553 -0.04015482] yaw=-136.1deg	[env.py: 1019]
+05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:49:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.5ms, total=94.6ms	[env.py: 1075]
+05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.884, 0.175, -0.040)	[env.py: 1079]
+05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.9 deg	[env.py: 1082]
+05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
+05/08 23:49:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:49:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:49:36 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/08 23:49:36 INFO: [Worker 0] Worker 0 house 1 episode 17/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:49:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:49:36 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 23:49:36 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:49:36 INFO: [Worker 0] Collision-checked 388 grasps in 0.065s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:49:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.483s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:49:38 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.614[m] 93.505[deg]	[grasp_sample.py: 539]
+05/08 23:49:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:49:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:49:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:50:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:50:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:50:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:50:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:50:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:50:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:50:30 INFO: [Worker 0] Worker 0 house 1 episode 16 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:50:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:50:47 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:50:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/08 23:50:47 INFO: [Worker 0] Preparing episode data: 266 timesteps	[save_utils.py: 278]
+05/08 23:50:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:50:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:50:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:50:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:50:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.04s (batch: 3.64s, save: 6.40s)	[pipeline.py: 300]
+05/08 23:50:58 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.32s:
+  episode_total: mean=159.76s, total=159.76s, count=1, min=159763.4ms, max=159763.4ms
+  sensor_polling: mean=456.4ms, total=120.94s, count=265, min=368.6ms, max=928.0ms
+  save_trajectories: mean=6.40s, total=6.40s, count=1, min=6397.6ms, max=6397.6ms
+  physics_step: mean=23.4ms, total=6.21s, count=265, min=14.8ms, max=54.5ms
+  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3640.0ms, max=3640.0ms
+  task_sampling: mean=321.6ms, total=321.6ms, count=1, min=321.6ms, max=321.6ms
+  task_specific_sample: mean=318.2ms, total=318.2ms, count=1, min=318.2ms, max=318.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=378.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:51:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:51:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:51:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:51:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:51:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:51:00 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:51:00 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:51:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:51:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019453m	[env.py: 870]
+05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:51:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98970528  0.95067821  0.01945308] yaw=-157.8deg	[env.py: 1019]
+05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09688867  0.37243831  0.01945308] yaw=180.1deg	[env.py: 1019]
+05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97565199 -0.01730432  0.01945308] yaw=146.3deg	[env.py: 1019]
+05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:51:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.2ms, total=167.2ms	[env.py: 1075]
+05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.951, 0.019)	[env.py: 1079]
+05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.8 deg	[env.py: 1082]
+05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
+05/08 23:51:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:51:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:51:00 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/08 23:51:00 INFO: [Worker 0] Worker 0 house 1 episode 17/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:51:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:51:00 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 23:51:00 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:51:00 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:51:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.614s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:51:02 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.646[m] 101.470[deg]	[grasp_sample.py: 539]
+05/08 23:51:03 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/08 23:51:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:51:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:51:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:51:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:51:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:51:04 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:51:04 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:51:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:51:04 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 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003621m	[env.py: 870]
+05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:51:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03588784 -0.01057061  0.00362063] yaw=154.3deg	[env.py: 1019]
+05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00691574  0.51102176  0.00362063] yaw=-174.3deg	[env.py: 1019]
+05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08425199  0.60265464  0.00362063] yaw=-164.4deg	[env.py: 1019]
+05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:51:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.0ms, total=81.0ms	[env.py: 1075]
+05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.036, -0.011, 0.004)	[env.py: 1079]
+05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.3 deg	[env.py: 1082]
+05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/08 23:51:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:51:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:51:04 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/08 23:51:04 INFO: [Worker 0] Worker 0 house 1 episode 18/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:51:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:51:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:51:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:51:05 INFO: [Worker 0] Collision-checked 388 grasps in 0.109s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:51:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:51:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.215s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:51:08 INFO: [Worker 0] Feasible grasp found 386 (originally 192): w/ 0.501[m] 84.567[deg]	[grasp_sample.py: 539]
+05/08 23:51:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:51:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:51:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:51:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:51:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:51:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:51:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:51:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:51:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:51:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:51:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/08 23:51:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/08 23:51:17 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 23:51:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:51:17 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 324 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:51:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.430s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:51:18 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.085[m] 0.237[deg]	[grasp_sample.py: 539]
+05/08 23:51:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:51:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:51:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:51:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:51:34 INFO: [Worker 0] Worker 0 house 1 episode 15 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:51:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:51:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:51:41 INFO: [Worker 0] Worker 0 house 1 episode 16 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:51:55 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:51:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/08 23:51:55 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/08 23:51:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:52:02 INFO: [Worker 0] Worker 0 house 1 episode 17 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:52:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:52:06 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:52:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/08 23:52:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:52:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:52:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:52:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.07s (batch: 4.44s, save: 7.63s)	[pipeline.py: 300]
+05/08 23:52:08 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.42s:
+  episode_total: mean=163.82s, total=163.82s, count=1, min=163821.8ms, max=163821.8ms
+  sensor_polling: mean=445.6ms, total=119.41s, count=268, min=389.6ms, max=910.4ms
+  save_trajectories: mean=7.63s, total=7.63s, count=1, min=7627.2ms, max=7627.2ms
+  physics_step: mean=21.8ms, total=5.84s, count=268, min=15.2ms, max=71.9ms
+  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4443.1ms, max=4443.1ms
+  task_sampling: mean=421.9ms, total=421.9ms, count=1, min=421.9ms, max=421.9ms
+  task_specific_sample: mean=414.5ms, total=414.5ms, count=1, min=414.5ms, max=414.5ms
+  scene_randomize: mean=5.9ms, total=5.9ms, count=1, min=5.9ms, max=5.9ms
+  mj_forward_sync: mean=621.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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 23:52:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:52:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:52:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:52:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:52:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:52:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:52:10 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:52:10 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 23:52:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:52:10 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 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004070m	[env.py: 870]
+05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:52:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.30396156 -0.18054788  0.00406964] yaw=120.1deg	[env.py: 1019]
+05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06807933  0.1050255   0.00406964] yaw=159.0deg	[env.py: 1019]
+05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.25223271  1.07099244  0.00406964] yaw=-139.1deg	[env.py: 1019]
+05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:52:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.4ms, total=87.4ms	[env.py: 1075]
+05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.304, -0.181, 0.004)	[env.py: 1079]
+05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 120.1 deg	[env.py: 1082]
+05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
+05/08 23:52:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:52:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:52:10 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/08 23:52:10 INFO: [Worker 0] Worker 0 house 1 episode 16/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:52:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:52:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:52:10 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:52:10 INFO: [Worker 0] Collision-checked 388 grasps in 0.081s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:52:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.496s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:52:11 INFO: [Worker 0] Feasible grasp found 250 (originally 56): w/ 0.414[m] 78.693[deg]	[grasp_sample.py: 539]
+05/08 23:52:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:52:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:52:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:52:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:52:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:52:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.97s (batch: 3.86s, save: 8.10s)	[pipeline.py: 300]
+05/08 23:52:19 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.35s:
+  episode_total: mean=194.11s, total=194.11s, count=1, min=194114.5ms, max=194114.5ms
+  sensor_polling: mean=457.6ms, total=137.29s, count=300, min=382.7ms, max=895.6ms
+  save_trajectories: mean=8.10s, total=8.10s, count=1, min=8103.7ms, max=8103.7ms
+  physics_step: mean=21.4ms, total=6.42s, count=300, min=16.9ms, max=72.6ms
+  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3861.3ms, max=3861.3ms
+  task_sampling: mean=353.3ms, total=353.3ms, count=1, min=353.3ms, max=353.3ms
+  task_specific_sample: mean=349.7ms, total=349.7ms, count=1, min=349.7ms, max=349.7ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=365.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:52:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:52:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:52:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:52:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:52:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:52:20 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:52:20 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:52:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:52:20 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 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019949m	[env.py: 870]
+05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:52:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87496606  0.74881798  0.01994938] yaw=-163.7deg	[env.py: 1019]
+05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0562031   0.78067991  0.01994938] yaw=-153.1deg	[env.py: 1019]
+05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.36536199 -0.1800481   0.01994938] yaw=121.2deg	[env.py: 1019]
+05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:52:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=61.8ms, total=61.8ms	[env.py: 1075]
+05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.875, 0.749, 0.020)	[env.py: 1079]
+05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.7 deg	[env.py: 1082]
+05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
+05/08 23:52:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:52:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:52:21 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/08 23:52:21 INFO: [Worker 0] Worker 0 house 1 episode 17/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:52:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:52:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:52:21 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:52:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:52:22 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:52:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/08 23:52:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:52:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.332s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:52:25 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.602[m] 90.272[deg]	[grasp_sample.py: 539]
+05/08 23:52:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:52:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:52:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:52:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:52:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:52:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.90s (batch: 4.61s, save: 10.29s)	[pipeline.py: 300]
+05/08 23:52:37 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.39s:
+  episode_total: mean=181.49s, total=181.49s, count=1, min=181491.2ms, max=181491.2ms
+  sensor_polling: mean=449.5ms, total=134.84s, count=300, min=371.5ms, max=686.1ms
+  save_trajectories: mean=10.29s, total=10.29s, count=1, min=10292.7ms, max=10292.7ms
+  physics_step: mean=21.0ms, total=6.31s, count=300, min=16.6ms, max=64.0ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4606.3ms, max=4606.3ms
+  task_sampling: mean=385.7ms, total=385.7ms, count=1, min=385.7ms, max=385.7ms
+  task_specific_sample: mean=382.4ms, total=382.4ms, count=1, min=382.4ms, max=382.4ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=368.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.9us, 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 23:52:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:52:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:52:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:52:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:52:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:52:39 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:52:39 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 23:52:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:52:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013668m	[env.py: 870]
+05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:52:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14882825 -0.20124155  0.01366811] yaw=136.9deg	[env.py: 1019]
+05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1380529  -0.30784017  0.01366811] yaw=123.8deg	[env.py: 1019]
+05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:52:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.4ms, total=149.5ms	[env.py: 1075]
+05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.149, -0.201, 0.014)	[env.py: 1079]
+05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 136.9 deg	[env.py: 1082]
+05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m	[env.py: 1086]
+05/08 23:52:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:52:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:52:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/08 23:52:39 INFO: [Worker 0] Worker 0 house 1 episode 18/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:52:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:52:39 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 23:52:39 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:52:39 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:52:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.520s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:52:41 INFO: [Worker 0] Feasible grasp found 250 (originally 56): w/ 0.536[m] 89.634[deg]	[grasp_sample.py: 539]
+05/08 23:52:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:52:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:52:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:52:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:53:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:53:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:53:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:53:32 INFO: [Worker 0] Worker 0 house 1 episode 18 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:53:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:53:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:53:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:53:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:53:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:53:53 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:53:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/08 23:53:53 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
+05/08 23:54:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:54:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:54:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.18s (batch: 3.72s, save: 7.46s)	[pipeline.py: 300]
+05/08 23:54:05 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.74s:
+  episode_total: mean=91.94s, total=183.88s, count=2, min=3070.8ms, max=180810.7ms
+  sensor_polling: mean=454.7ms, total=134.14s, count=295, min=379.6ms, max=744.6ms
+  save_trajectories: mean=7.46s, total=7.46s, count=1, min=7458.8ms, max=7458.8ms
+  physics_step: mean=23.1ms, total=6.82s, count=295, min=13.6ms, max=66.0ms
+  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3720.6ms, max=3720.6ms
+  task_sampling: mean=369.6ms, total=739.2ms, count=2, min=301.0ms, max=438.2ms
+  task_specific_sample: mean=366.7ms, total=733.5ms, count=2, min=298.4ms, max=435.1ms
+  scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.1ms, max=1.9ms
+  mj_forward_sync: mean=366.9us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:54:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:54:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:54:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:54:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:54:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:54:06 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:54:06 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/08 23:54:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:54:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031190m	[env.py: 870]
+05/08 23:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:54:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.3992283   1.0527352   0.03118989] yaw=-117.9deg	[env.py: 1019]
+05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8874494   0.66543875  0.03118989] yaw=-166.7deg	[env.py: 1019]
+05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05957974  0.62011354  0.03118989] yaw=-173.0deg	[env.py: 1019]
+05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:54:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.9ms, total=93.9ms	[env.py: 1075]
+05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.399, 1.053, 0.031)	[env.py: 1079]
+05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -117.9 deg	[env.py: 1082]
+05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.747m	[env.py: 1086]
+05/08 23:54:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:54:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:54:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/08 23:54:07 INFO: [Worker 0] Worker 0 house 1 episode 19/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:54:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:54:07 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 23:54:07 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:54:07 INFO: [Worker 0] Collision-checked 388 grasps in 0.099s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:54:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.608s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:54:09 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.435[m] 92.959[deg]	[grasp_sample.py: 539]
+05/08 23:54:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:54:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:54:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:54:23 INFO: [Worker 0] Worker 0 house 1 episode 16 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:54:43 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:54:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/08 23:54:43 INFO: [Worker 0] Preparing episode data: 277 timesteps	[save_utils.py: 278]
+05/08 23:54:50 INFO: [Worker 0] Worker 0 house 1 episode 17 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:54:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:54:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:54:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:54:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.83s (batch: 3.56s, save: 8.27s)	[pipeline.py: 300]
+05/08 23:54:55 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.37s:
+  episode_total: mean=165.85s, total=165.85s, count=1, min=165846.6ms, max=165846.6ms
+  sensor_polling: mean=448.1ms, total=123.68s, count=276, min=392.1ms, max=717.6ms
+  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8273.7ms, max=8273.7ms
+  physics_step: mean=20.9ms, total=5.76s, count=276, min=16.8ms, max=47.2ms
+  save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3557.1ms, max=3557.1ms
+  task_sampling: mean=365.7ms, total=365.7ms, count=1, min=365.7ms, max=365.7ms
+  task_specific_sample: mean=362.3ms, total=362.3ms, count=1, min=362.3ms, max=362.3ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=376.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.9us, 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 23:54:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:54:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:54:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:54:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:54:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:54:58 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:54:58 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 23:54:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:54:58 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 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014780m	[env.py: 870]
+05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:54:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.21733534  0.92960196 -0.01477977] yaw=-134.8deg	[env.py: 1019]
+05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02739922  0.1229731  -0.01477977] yaw=154.9deg	[env.py: 1019]
+05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.020648    0.01356215 -0.01477977] yaw=151.0deg	[env.py: 1019]
+05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:54:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=247.8ms, total=247.9ms	[env.py: 1075]
+05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.217, 0.930, -0.015)	[env.py: 1079]
+05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.8 deg	[env.py: 1082]
+05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.774m	[env.py: 1086]
+05/08 23:54:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:54:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:54:58 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/08 23:54:58 INFO: [Worker 0] Worker 0 house 1 episode 17/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:54:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:54:58 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 23:54:58 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:54:58 INFO: [Worker 0] Collision-checked 388 grasps in 0.077s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:54:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.990s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:54:59 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.469[m] 92.162[deg]	[grasp_sample.py: 539]
+05/08 23:54:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:55:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:55:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:55:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:55:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:55:05 INFO: [Worker 0] Worker 0 house 1 episode 18 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:55:14 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:55:14 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/08 23:55:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:55:24 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:55:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/08 23:55:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:55:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:55:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:55:26 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.97s (batch: 4.13s, save: 7.85s)	[pipeline.py: 300]
+05/08 23:55:26 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.33s:
+  episode_total: mean=185.89s, total=185.89s, count=1, min=185889.5ms, max=185889.5ms
+  sensor_polling: mean=448.9ms, total=134.68s, count=300, min=384.8ms, max=810.1ms
+  save_trajectories: mean=7.85s, total=7.85s, count=1, min=7848.1ms, max=7848.1ms
+  physics_step: mean=21.7ms, total=6.50s, count=300, min=15.6ms, max=62.6ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4126.5ms, max=4126.5ms
+  task_sampling: mean=327.3ms, total=327.3ms, count=1, min=327.3ms, max=327.3ms
+  task_specific_sample: mean=323.3ms, total=323.3ms, count=1, min=323.3ms, max=323.3ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=442.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.3us, 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 23:55:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:55:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:55:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:55:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:55:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:55:28 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:55:28 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 23:55:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:55:28 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 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020946m	[env.py: 870]
+05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:55:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93208254  0.53582927  0.02094567] yaw=-161.7deg	[env.py: 1019]
+05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99244985  0.30269273  0.02094567] yaw=179.8deg	[env.py: 1019]
+05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93085544  0.08314972  0.02094567] yaw=156.0deg	[env.py: 1019]
+05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:55:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=397.7ms, total=397.7ms	[env.py: 1075]
+05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.536, 0.021)	[env.py: 1079]
+05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.7 deg	[env.py: 1082]
+05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m	[env.py: 1086]
+05/08 23:55:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:55:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:55:29 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/08 23:55:29 INFO: [Worker 0] Worker 0 house 1 episode 18/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:55:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.136s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:55:29 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 23:55:29 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:55:29 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:55:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.089s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:55:30 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.460[m] 83.981[deg]	[grasp_sample.py: 539]
+05/08 23:55:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:55:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:55:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:55:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:55:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:55:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.21s (batch: 4.52s, save: 10.69s)	[pipeline.py: 300]
+05/08 23:55:40 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.44s:
+  episode_total: mean=181.64s, total=181.64s, count=1, min=181635.9ms, max=181635.9ms
+  sensor_polling: mean=449.3ms, total=134.78s, count=300, min=384.1ms, max=756.1ms
+  save_trajectories: mean=10.69s, total=10.69s, count=1, min=10686.8ms, max=10686.8ms
+  physics_step: mean=20.9ms, total=6.28s, count=300, min=13.3ms, max=51.0ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4524.8ms, max=4524.8ms
+  task_sampling: mean=444.4ms, total=444.4ms, count=1, min=444.4ms, max=444.4ms
+  task_specific_sample: mean=440.9ms, total=440.9ms, count=1, min=440.9ms, max=440.9ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=366.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 23:55:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:55:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:55:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:55:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:55:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:55:42 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:55:42 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 23:55:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:55:42 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 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020099m	[env.py: 870]
+05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:55:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13474932 -0.08255378  0.02009866] yaw=144.8deg	[env.py: 1019]
+05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92530239  0.01884506  0.02009866] yaw=145.5deg	[env.py: 1019]
+05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.33869042  1.00143954  0.02009866] yaw=-125.0deg	[env.py: 1019]
+05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:55:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.7ms, total=114.8ms	[env.py: 1075]
+05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.135, -0.083, 0.020)	[env.py: 1079]
+05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.8 deg	[env.py: 1082]
+05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/08 23:55:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:55:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:55:42 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/08 23:55:42 INFO: [Worker 0] Worker 0 house 1 episode 19/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:55:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:55:42 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 23:55:42 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:55:42 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:55:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.504s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:55:43 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.489[m] 92.831[deg]	[grasp_sample.py: 539]
+05/08 23:55:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:55:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:55:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:55:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:55:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:55:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:56:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:56:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:56:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:56:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:56:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:56:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:56:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:56:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:56:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:56:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:56:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/08 23:56:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/08 23:56:27 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 23:56:27 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:56:27 INFO: [Worker 0] Collision-checked 388 grasps in 0.099s, found 320 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:56:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.508s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:56:29 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.045[m] 0.558[deg]	[grasp_sample.py: 539]
+05/08 23:56:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:56:30 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/08 23:56:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:56:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:56:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:56:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:56:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:56:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:56:32 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:56:32 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 23:56:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:56:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031103m	[env.py: 870]
+05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:56:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94880799  0.02310404  0.0311033 ] yaw=144.5deg	[env.py: 1019]
+05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91364286  0.60254029  0.0311033 ] yaw=-173.7deg	[env.py: 1019]
+05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.9249431   0.84283154  0.0311033 ] yaw=-154.3deg	[env.py: 1019]
+05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:56:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.1ms, total=164.1ms	[env.py: 1075]
+05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.023, 0.031)	[env.py: 1079]
+05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.5 deg	[env.py: 1082]
+05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m	[env.py: 1086]
+05/08 23:56:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:56:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:56:32 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/08 23:56:32 INFO: [Worker 0] Worker 0 house 1 episode 20/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:56:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:56:32 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 23:56:32 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:56:32 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:56:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.679s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:56:35 INFO: [Worker 0] Feasible grasp found 369 (originally 175): w/ 0.550[m] 84.467[deg]	[grasp_sample.py: 539]
+05/08 23:56:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:56:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:56:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:56:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:56:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:57:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:57:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:57:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:57:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:57:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/08 23:57:24 INFO: [Worker 0] Worker 0 house 1 episode 17 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:57:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:57:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:57:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:57:45 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:57:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/08 23:57:45 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/08 23:57:50 INFO: [Worker 0] Worker 0 house 1 episode 18 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:57:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:57:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:57:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.40s (batch: 3.77s, save: 8.63s)	[pipeline.py: 300]
+05/08 23:57:58 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.50s:
+  episode_total: mean=179.99s, total=179.99s, count=1, min=179994.6ms, max=179994.6ms
+  sensor_polling: mean=446.5ms, total=130.39s, count=292, min=377.8ms, max=662.6ms
+  save_trajectories: mean=8.63s, total=8.63s, count=1, min=8629.9ms, max=8629.9ms
+  physics_step: mean=22.1ms, total=6.45s, count=292, min=16.9ms, max=68.0ms
+  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3772.9ms, max=3772.9ms
+  task_sampling: mean=498.9ms, total=498.9ms, count=1, min=498.9ms, max=498.9ms
+  task_specific_sample: mean=495.2ms, total=495.2ms, count=1, min=495.2ms, max=495.2ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=422.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:57:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:57:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:57:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:57:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:57:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:57:59 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:57:59 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 23:57:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:57:59 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 23:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035277m	[env.py: 870]
+05/08 23:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:57:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08327289  0.90422806 -0.03527692] yaw=-139.0deg	[env.py: 1019]
+05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.19813931  0.79428652 -0.03527692] yaw=-154.5deg	[env.py: 1019]
+05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.13650004  1.1530075  -0.03527692] yaw=-141.7deg	[env.py: 1019]
+05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:58:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=249.5ms, total=249.5ms	[env.py: 1075]
+05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.083, 0.904, -0.035)	[env.py: 1079]
+05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.0 deg	[env.py: 1082]
+05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m	[env.py: 1086]
+05/08 23:58:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:58:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:58:00 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/08 23:58:00 INFO: [Worker 0] Worker 0 house 1 episode 18/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:58:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.148s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:58:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:58:00 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:58:00 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:58:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.070s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:58:03 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.468[m] 80.527[deg]	[grasp_sample.py: 539]
+05/08 23:58:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:58:03 INFO: [Worker 0] Worker 0 house 1 episode 19 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:58:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:58:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:58:14 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:58:14 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/08 23:58:14 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
+05/08 23:58:21 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/08 23:58:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/08 23:58:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/08 23:58:21 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:58:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.083s, found 294 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:58:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.407s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:58:22 INFO: [Worker 0] Feasible grasp found 355 (originally 161): w/ 0.088[m] 0.909[deg]	[grasp_sample.py: 539]
+05/08 23:58:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:58:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:58:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:58:25 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:58:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/08 23:58:25 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/08 23:58:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:58:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:58:26 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.57s (batch: 3.78s, save: 7.79s)	[pipeline.py: 300]
+05/08 23:58:26 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.71s:
+  episode_total: mean=178.27s, total=178.27s, count=1, min=178268.0ms, max=178268.0ms
+  sensor_polling: mean=448.9ms, total=129.73s, count=289, min=386.4ms, max=788.0ms
+  save_trajectories: mean=7.79s, total=7.79s, count=1, min=7794.6ms, max=7794.6ms
+  physics_step: mean=23.0ms, total=6.64s, count=289, min=16.8ms, max=50.7ms
+  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3776.9ms, max=3776.9ms
+  task_sampling: mean=712.0ms, total=712.0ms, count=1, min=712.0ms, max=712.0ms
+  task_specific_sample: mean=708.1ms, total=708.1ms, count=1, min=708.1ms, max=708.1ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=446.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:58:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:58:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:58:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:58:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:58:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:58:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:58:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:58:28 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:58:28 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 23:58:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:58:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037465m	[env.py: 870]
+05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:58:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07217419  0.73740959  0.0374651 ] yaw=-150.9deg	[env.py: 1019]
+05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03680005 -0.09537605  0.0374651 ] yaw=139.3deg	[env.py: 1019]
+05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97353374  0.55789575  0.0374651 ] yaw=-162.9deg	[env.py: 1019]
+05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:58:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.5ms, total=146.5ms	[env.py: 1075]
+05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.072, 0.737, 0.037)	[env.py: 1079]
+05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.9 deg	[env.py: 1082]
+05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.796m	[env.py: 1086]
+05/08 23:58:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:58:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:58:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:58:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:58:28 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/08 23:58:28 INFO: [Worker 0] Worker 0 house 1 episode 19/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:58:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:58:28 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 23:58:28 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:58:28 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:58:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.431s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:58:29 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.403[m] 85.631[deg]	[grasp_sample.py: 539]
+05/08 23:58:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:58:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:58:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:58:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:58:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:58:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:58:38 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.40s (batch: 3.80s, save: 9.60s)	[pipeline.py: 300]
+05/08 23:58:39 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.40s:
+  episode_total: mean=177.03s, total=177.03s, count=1, min=177030.6ms, max=177030.6ms
+  sensor_polling: mean=448.7ms, total=131.47s, count=293, min=383.9ms, max=723.9ms
+  save_trajectories: mean=9.60s, total=9.60s, count=1, min=9605.0ms, max=9605.0ms
+  physics_step: mean=20.7ms, total=6.06s, count=293, min=13.6ms, max=62.7ms
+  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3797.1ms, max=3797.1ms
+  task_sampling: mean=404.2ms, total=404.2ms, count=1, min=404.2ms, max=404.2ms
+  task_specific_sample: mean=400.2ms, total=400.2ms, count=1, min=400.2ms, max=400.2ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=528.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:58:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:58:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:58:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:58:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:58:41 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:58:41 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 23:58:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:58:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.033m, effective arm-mount z=0.827m (base_body_z=-0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033146m	[env.py: 870]
+05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:58:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.11048806  0.54795345 -0.03314599] yaw=-164.7deg	[env.py: 1019]
+05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
+05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:58:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=285.5ms, total=285.5ms	[env.py: 1075]
+05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.110, 0.548, -0.033)	[env.py: 1079]
+05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.7 deg	[env.py: 1082]
+05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.705m	[env.py: 1086]
+05/08 23:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:58:41 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/08 23:58:41 INFO: [Worker 0] Worker 0 house 1 episode 20/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:58:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:58:41 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 23:58:41 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:58:41 INFO: [Worker 0] Collision-checked 388 grasps in 0.080s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:58:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.852s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:58:42 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.426[m] 99.989[deg]	[grasp_sample.py: 539]
+05/08 23:58:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:58:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:58:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:58:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:58:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:58:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:59:00 INFO: [Worker 0] Worker 0 house 1 episode 20 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/08 23:59:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:59:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:59:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:59:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:59:25 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/08 23:59:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/08 23:59:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/08 23:59:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:59:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/08 23:59:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/08 23:59:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/08 23:59:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.40s (batch: 3.86s, save: 8.53s)	[pipeline.py: 300]
+05/08 23:59:38 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.81s:
+  episode_total: mean=164.77s, total=329.54s, count=2, min=143328.2ms, max=186214.1ms
+  sensor_polling: mean=445.1ms, total=251.92s, count=566, min=375.8ms, max=744.8ms
+  physics_step: mean=21.9ms, total=12.37s, count=566, min=17.0ms, max=57.0ms
+  save_trajectories: mean=8.53s, total=8.53s, count=1, min=8534.9ms, max=8534.9ms
+  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3863.7ms, max=3863.7ms
+  task_sampling: mean=404.0ms, total=808.1ms, count=2, min=394.4ms, max=413.7ms
+  task_specific_sample: mean=400.9ms, total=801.9ms, count=2, min=391.5ms, max=410.4ms
+  scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=1.2ms, max=2.0ms
+  mj_forward_sync: mean=369.2us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:59:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/08 23:59:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/08 23:59:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/08 23:59:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:59:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:59:39 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/08 23:59:39 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 23:59:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/08 23:59:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029184m	[env.py: 870]
+05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/08 23:59:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92869705  0.31213159  0.02918378] yaw=174.9deg	[env.py: 1019]
+05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97639451  0.25176193  0.02918378] yaw=161.2deg	[env.py: 1019]
+05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0973764   0.84989898  0.02918378] yaw=-138.1deg	[env.py: 1019]
+05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/08 23:59:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=62.6ms, total=62.6ms	[env.py: 1075]
+05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.312, 0.029)	[env.py: 1079]
+05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.9 deg	[env.py: 1082]
+05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/08 23:59:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/08 23:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/08 23:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/08 23:59:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/08 23:59:40 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/08 23:59:40 INFO: [Worker 0] Worker 0 house 1 episode 21/60 collected=0/10	[pipeline.py: 1044]
+05/08 23:59:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:59:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/08 23:59:40 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 23:59:40 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/08 23:59:40 INFO: [Worker 0] Collision-checked 388 grasps in 0.079s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/08 23:59:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.406s, found feasible grasp: True	[grasp_sample.py: 500]
+05/08 23:59:40 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.460[m] 80.671[deg]	[grasp_sample.py: 539]
+05/08 23:59:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/08 23:59:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/08 23:59:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/08 23:59:54 INFO: Received SIGTERM. Initiating graceful shutdown...	[pipeline.py: 1340]
+05/08 23:59:54 INFO: Received SIGTERM. Initiating graceful shutdown...	[pipeline.py: 1340]
+05/08 23:59:54 INFO: Received SIGTERM. Initiating graceful shutdown...	[pipeline.py: 1340]
+05/08 23:59:54 INFO: Received SIGTERM. Initiating graceful shutdown...	[pipeline.py: 1340]
+05/08 23:59:54 INFO: [Worker 0] Worker 0 house 1 episode 21 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/08 23:59:54 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=False episode_total=0.33s:
+  episode_total: mean=14.51s, total=14.51s, count=1, min=14509.5ms, max=14509.5ms
+  sensor_polling: mean=475.2ms, total=11.88s, count=25, min=409.8ms, max=861.1ms
+  physics_step: mean=20.4ms, total=509.7ms, count=25, min=13.6ms, max=36.5ms
+  task_sampling: mean=331.8ms, total=331.8ms, count=1, min=331.8ms, max=331.8ms
+  task_specific_sample: mean=328.4ms, total=328.4ms, count=1, min=328.4ms, max=328.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=361.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:59:54 INFO: [Worker 0] Worker 0 house 1 episode 20 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/08 23:59:54 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=False episode_total=0.62s:
+  episode_total: mean=73.30s, total=73.30s, count=1, min=73296.4ms, max=73296.4ms
+  sensor_polling: mean=467.8ms, total=66.42s, count=142, min=407.7ms, max=799.6ms
+  physics_step: mean=20.4ms, total=2.90s, count=142, min=15.6ms, max=53.7ms
+  task_sampling: mean=622.5ms, total=622.5ms, count=1, min=622.5ms, max=622.5ms
+  task_specific_sample: mean=618.0ms, total=618.0ms, count=1, min=618.0ms, max=618.0ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=599.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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 23:59:54 INFO: [Worker 0] Worker 0 house 1 episode 18 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/08 23:59:54 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=False episode_total=0.56s:
+  episode_total: mean=114.58s, total=114.58s, count=1, min=114580.6ms, max=114580.6ms
+  sensor_polling: mean=453.7ms, total=102.54s, count=226, min=384.7ms, max=753.1ms
+  physics_step: mean=22.1ms, total=4.99s, count=226, min=16.9ms, max=56.4ms
+  task_sampling: mean=557.6ms, total=557.6ms, count=1, min=557.6ms, max=557.6ms
+  task_specific_sample: mean=554.1ms, total=554.1ms, count=1, min=554.1ms, max=554.1ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=432.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/08 23:59:54 INFO: [Worker 0] Worker 0 house 1 episode 19 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/08 23:59:54 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=False episode_total=0.42s:
+  episode_total: mean=86.17s, total=86.17s, count=1, min=86174.5ms, max=86174.5ms
+  sensor_polling: mean=464.4ms, total=78.95s, count=170, min=392.6ms, max=838.8ms
+  physics_step: mean=22.6ms, total=3.85s, count=170, min=16.1ms, max=49.2ms
+  task_sampling: mean=418.3ms, total=418.3ms, count=1, min=418.3ms, max=418.3ms
+  task_specific_sample: mean=414.3ms, total=414.3ms, count=1, min=414.3ms, max=414.3ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=526.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.1us, 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 23:59:55 INFO: [Worker 0] Worker 0 house 1 received shutdown signal	[pipeline.py: 967]
+05/08 23:59:55 INFO: [Worker 0] Worker 0 house 1 shutdown requested, skipping save	[pipeline.py: 1292]
+05/08 23:59:55 INFO: [Worker 0] Worker 0 received shutdown signal, cleaning up...	[pipeline.py: 451]
+05/08 23:59:55 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/08 23:59:55 INFO: [Worker 0] [PROFILE] Worker complete: 0 houses, 18 episodes, total_time=6019.39s
+  Worker averages:
+  episode_total: mean=148.23s, total=3261.03s, count=22, min=3070.8ms, max=186214.1ms
+  sensor_polling: mean=440.6ms, total=2418.22s, count=5488, min=351.9ms, max=928.0ms
+  save_trajectories: mean=8.65s, total=129.82s, count=15, min=6397.6ms, max=11252.2ms
+  physics_step: mean=21.2ms, total=116.18s, count=5488, min=13.5ms, max=82.9ms
+  save_batch_prep: mean=3.87s, total=65.86s, count=17, min=3226.2ms, max=4659.5ms
+  task_sampling: mean=557.2ms, total=12.26s, count=22, min=301.0ms, max=3411.5ms
+  task_specific_sample: mean=422.9ms, total=9.30s, count=22, min=298.4ms, max=928.7ms
+  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
+  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_randomize: mean=2.2ms, total=47.8ms, count=22, min=1.1ms, max=3.1ms
+  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
+  mj_forward_sync: mean=413.4us, total=9.1ms, count=22, min=0.4ms, max=0.5ms
+  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
+  policy_setup: mean=19.6us, total=0.4ms, count=22, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=21, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/08 23:59:55 INFO: [Worker 0] Worker 0 house 1 received shutdown signal	[pipeline.py: 967]
+05/08 23:59:55 INFO: [Worker 0] Worker 0 house 1 shutdown requested, skipping save	[pipeline.py: 1292]
+05/08 23:59:55 INFO: [Worker 0] Worker 0 received shutdown signal, cleaning up...	[pipeline.py: 451]
+05/08 23:59:55 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/08 23:59:55 INFO: [Worker 0] [PROFILE] Worker complete: 0 houses, 19 episodes, total_time=6030.11s
+  Worker averages:
+  episode_total: mean=155.37s, total=3262.72s, count=21, min=2892.4ms, max=192143.3ms
+  sensor_polling: mean=440.6ms, total=2404.53s, count=5457, min=363.4ms, max=827.2ms
+  save_trajectories: mean=9.17s, total=146.69s, count=16, min=7590.6ms, max=10686.8ms
+  physics_step: mean=20.7ms, total=112.96s, count=5457, min=13.2ms, max=95.0ms
+  save_batch_prep: mean=3.97s, total=71.41s, count=18, min=3254.5ms, max=4606.3ms
+  task_sampling: mean=648.7ms, total=13.62s, count=21, min=319.7ms, max=4051.9ms
+  task_specific_sample: mean=483.1ms, total=10.15s, count=21, min=315.8ms, max=773.5ms
+  scene_load: mean=3.40s, total=3.40s, count=1, min=3399.4ms, max=3399.4ms
+  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
+  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
+  scene_randomize: mean=2.3ms, total=48.9ms, count=21, min=1.0ms, max=3.0ms
+  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
+  mj_forward_sync: mean=444.5us, total=9.3ms, count=21, min=0.3ms, max=0.6ms
+  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
+  policy_setup: mean=21.1us, total=0.4ms, count=21, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=20, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/08 23:59:55 INFO: [Worker 0] Worker 0 house 1 received shutdown signal	[pipeline.py: 967]
+05/08 23:59:55 INFO: [Worker 0] Worker 0 house 1 shutdown requested, skipping save	[pipeline.py: 1292]
+05/08 23:59:55 INFO: [Worker 0] Worker 0 house 1 received shutdown signal	[pipeline.py: 967]
+05/08 23:59:55 INFO: [Worker 0] Worker 0 house 1 shutdown requested, skipping save	[pipeline.py: 1292]
+05/08 23:59:55 INFO: [Worker 0] Worker 0 received shutdown signal, cleaning up...	[pipeline.py: 451]
+05/08 23:59:55 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/08 23:59:55 INFO: [Worker 0] [PROFILE] Worker complete: 0 houses, 19 episodes, total_time=6039.55s
+  Worker averages:
+  episode_total: mean=171.83s, total=3264.80s, count=19, min=114580.6ms, max=191905.3ms
+  sensor_polling: mean=441.3ms, total=2398.72s, count=5436, min=362.4ms, max=910.4ms
+  save_trajectories: mean=9.11s, total=163.95s, count=18, min=7109.0ms, max=11128.6ms
+  physics_step: mean=21.4ms, total=116.51s, count=5436, min=13.6ms, max=99.3ms
+  save_batch_prep: mean=3.84s, total=69.07s, count=18, min=3237.3ms, max=4462.3ms
+  task_sampling: mean=598.1ms, total=11.36s, count=19, min=327.9ms, max=3624.4ms
+  task_specific_sample: mean=440.1ms, total=8.36s, count=19, min=324.5ms, max=696.7ms
+  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
+  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
+  scene_randomize: mean=2.6ms, total=48.5ms, count=19, min=1.0ms, max=5.9ms
+  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
+  mj_forward_sync: mean=646.6us, total=12.3ms, count=19, min=0.4ms, max=4.6ms
+  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
+  policy_setup: mean=20.9us, total=0.4ms, count=19, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=18, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/08 23:59:55 INFO: [Worker 0] Worker 0 received shutdown signal, cleaning up...	[pipeline.py: 451]
+05/08 23:59:55 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/08 23:59:55 INFO: [Worker 0] [PROFILE] Worker complete: 0 houses, 18 episodes, total_time=6021.24s
+  Worker averages:
+  episode_total: mean=163.23s, total=3264.58s, count=20, min=2259.0ms, max=194114.5ms
+  sensor_polling: mean=441.2ms, total=2417.38s, count=5479, min=357.5ms, max=895.6ms
+  save_trajectories: mean=8.17s, total=130.80s, count=16, min=6998.6ms, max=10099.7ms
+  physics_step: mean=21.2ms, total=116.14s, count=5479, min=13.5ms, max=78.6ms
+  save_batch_prep: mean=3.74s, total=63.62s, count=17, min=3218.5ms, max=4333.1ms
+  task_sampling: mean=607.9ms, total=12.16s, count=20, min=305.0ms, max=3941.9ms
+  task_specific_sample: mean=438.4ms, total=8.77s, count=20, min=302.2ms, max=708.1ms
+  scene_load: mean=3.31s, total=3.31s, count=1, min=3310.0ms, max=3310.0ms
+  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
+  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
+  scene_randomize: mean=2.7ms, total=54.0ms, count=20, min=1.2ms, max=6.5ms
+  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
+  mj_forward_sync: mean=431.6us, total=8.6ms, count=20, min=0.4ms, max=0.5ms
+  asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  policy_setup: mean=21.1us, total=0.4ms, count=20, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=19, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/08 23:59:58 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/08 23:59:58 INFO: Success count: 18, Total count: 19	[pipeline.py: 1491]
+05/08 23:59:58 INFO: Success rate: 94.74%	[pipeline.py: 1492]
+05/08 23:59:58 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/08 23:59:58 INFO: Success count: 18, Total count: 19	[pipeline.py: 1491]
+05/08 23:59:58 INFO: Success rate: 94.74%	[pipeline.py: 1492]
+05/08 23:59:58 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/08 23:59:58 INFO: Success count: 17, Total count: 18	[pipeline.py: 1491]
+05/08 23:59:58 INFO: Success rate: 94.44%	[pipeline.py: 1492]
+05/08 23:59:58 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/08 23:59:58 INFO: Success count: 17, Total count: 18	[pipeline.py: 1491]
+05/08 23:59:58 INFO: Success rate: 94.44%	[pipeline.py: 1492]
+05/09 00:00:36 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/09 00:00:36 INFO: Starting house-by-house rollout of 1 houses with 10 episodes each (10 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/09 00:00:36 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/09 00:00:36 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 0x7d17bb34da90>,
+ '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': 1011,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.7, 1.0),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 10,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/09 00:00:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/09 00:00:36 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/09 00:00:36 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/09 00:00:36 INFO: [Worker 0] Resuming house 1: found 16 existing trajectories in trajectories_batch_1_of_4_cam_rand.h5; new videos will start at episode_00000016	[pipeline.py: 922]
+05/09 00:00:36 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/09 00:00:36 INFO: Starting house-by-house rollout of 1 houses with 10 episodes each (10 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/09 00:00:36 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/09 00:00:36 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 0x7cbb9636b150>,
+ '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': 1014,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.7, 1.0),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 10,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/09 00:00:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/09 00:00:36 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/09 00:00:36 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/09 00:00:36 INFO: [Worker 0] Resuming house 1: found 18 existing trajectories in trajectories_batch_4_of_4_cam_rand.h5; new videos will start at episode_00000018	[pipeline.py: 922]
+05/09 00:00:36 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/09 00:00:36 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/09 00:00:37 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/09 00:00:37 INFO: Starting house-by-house rollout of 1 houses with 10 episodes each (10 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/09 00:00:37 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/09 00:00:37 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 0x780fe3dfebd0>,
+ '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': 1013,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.7, 1.0),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 10,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/09 00:00:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/09 00:00:37 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/09 00:00:37 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/09 00:00:37 INFO: [Worker 0] Resuming house 1: found 16 existing trajectories in trajectories_batch_3_of_4_cam_rand.h5; new videos will start at episode_00000016	[pipeline.py: 922]
+05/09 00:00:37 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/09 00:00:37 INFO: Starting house-by-house rollout of 1 houses with 10 episodes each (10 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/09 00:00:37 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/09 00:00:37 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 0x79c8fe2cc650>,
+ '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': 1012,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.7, 1.0),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 10,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/09 00:00:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/09 00:00:37 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/09 00:00:37 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/09 00:00:37 INFO: [Worker 0] Resuming house 1: found 15 existing trajectories in trajectories_batch_2_of_4_cam_rand.h5; new videos will start at episode_00000015	[pipeline.py: 922]
+05/09 00:00:37 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/09 00:00:37 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/09 00:00:39 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/09 00:00:39 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/09 00:00:39 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/09 00:00:39 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/09 00:00:39 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/09 00:00:39 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/09 00:00:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:00:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:00:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:00:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:00:39 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:00:39 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]
+05/09 00:00:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:00:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030351m	[env.py: 870]
+05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:00:39 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/09 00:00:39 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/09 00:00:39 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/09 00:00:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:00:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:00:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:00:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:00:39 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:00:39 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]
+05/09 00:00:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:00:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009787m	[env.py: 870]
+05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:00:39 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.17538991  1.11681649  0.03035059] yaw=-138.8deg	[env.py: 1019]
+05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03455513  0.888898    0.03035059] yaw=-139.4deg	[env.py: 1019]
+05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07982987  0.95369036  0.00978713] yaw=-134.5deg	[env.py: 1019]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02542966  1.04742568  0.03035059] yaw=-132.7deg	[env.py: 1019]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:00:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=31.8ms, retries=227.6ms, total=259.4ms	[env.py: 1075]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.175, 1.117, 0.030)	[env.py: 1079]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.8 deg	[env.py: 1082]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
+05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87616301  0.26274258  0.00978713] yaw=176.3deg	[env.py: 1019]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95748182  0.08577458  0.00978713] yaw=152.0deg	[env.py: 1019]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:00:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=53.2ms, retries=315.7ms, total=368.9ms	[env.py: 1075]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.080, 0.954, 0.010)	[env.py: 1079]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.5 deg	[env.py: 1082]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
+05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:00:40 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/09 00:00:40 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/09 00:00:40 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/09 00:00:40 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/09 00:00:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:00:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:00:40 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:00:40 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:00:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:00:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020509m	[env.py: 870]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:00:40 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:00:40 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/09 00:00:40 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96641493  0.44563646 -0.02050902] yaw=-188.1deg	[env.py: 1019]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97943197  0.00943814 -0.02050902] yaw=153.8deg	[env.py: 1019]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:00:40 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 00:00:40 INFO: [Worker 0] Worker 0 house 1 episode 0/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97475474  0.51722222 -0.02050902] yaw=-169.4deg	[env.py: 1019]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:00:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=16.7ms, retries=264.3ms, total=281.0ms	[env.py: 1075]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.966, 0.446, -0.021)	[env.py: 1079]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.1 deg	[env.py: 1082]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
+05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:00:40 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/09 00:00:40 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/09 00:00:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:00:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:00:40 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:00:40 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:00:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:00:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027546m	[env.py: 870]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:00:40 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/09 00:00:40 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 00:00:40 INFO: [Worker 0] Worker 0 house 1 episode 0/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:00:40 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 00:00:40 INFO: [Worker 0] Worker 0 house 1 episode 0/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82412086  0.22801145 -0.02754579] yaw=176.8deg	[env.py: 1019]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95451308  0.11330133 -0.02754579] yaw=150.5deg	[env.py: 1019]
+05/09 00:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.29116762  0.95871398 -0.02754579] yaw=-125.8deg	[env.py: 1019]
+05/09 00:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:00:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=53.1ms, retries=420.0ms, total=473.1ms	[env.py: 1075]
+05/09 00:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.824, 0.228, -0.028)	[env.py: 1079]
+05/09 00:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.8 deg	[env.py: 1082]
+05/09 00:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m	[env.py: 1086]
+05/09 00:00:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:00:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:00:41 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 00:00:41 INFO: [Worker 0] Worker 0 house 1 episode 0/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:01:04 INFO: [Worker 0] Warmed up parallel IK solver in 24.448s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:01:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:01:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:01:04 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:01:05 INFO: [Worker 0] Warmed up parallel IK solver in 24.540s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:01:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:01:05 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:01:05 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:01:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.469s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:01:05 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.504[m] 91.493[deg]	[grasp_sample.py: 539]
+05/09 00:01:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:01:06 INFO: [Worker 0] Warmed up parallel IK solver in 25.376s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:01:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:01:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:01:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.061s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:01:06 INFO: [Worker 0] Warmed up parallel IK solver in 24.901s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:01:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:01:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:01:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.067s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:01:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:01:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:01:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.557s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:01:06 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.597[m] 92.481[deg]	[grasp_sample.py: 539]
+05/09 00:01:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.474s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:01:06 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.489[m] 86.907[deg]	[grasp_sample.py: 539]
+05/09 00:01:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:01:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:01:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:01:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:01:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:01:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:01:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.392s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:01:07 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.604[m] 86.520[deg]	[grasp_sample.py: 539]
+05/09 00:01:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:01:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:01:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:01:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:01:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:02:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:02:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:02:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:02:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:02:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:02:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:02:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:02:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:02:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:02:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:03:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:03:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:03:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:03:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:03:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:03:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:03:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:03:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:03:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 00:03:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 00:03:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:03:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:03:17 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 324 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:03:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.341s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:03:18 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.085[m] 0.237[deg]	[grasp_sample.py: 539]
+05/09 00:03:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:03:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:03:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:03:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:03:27 INFO: [Worker 0] Worker 0 house 1 episode 0 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:03:30 INFO: [Worker 0] Worker 0 house 1 episode 0 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:03:31 INFO: [Worker 0] Worker 0 house 1 episode 0 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:03:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:03:38 INFO: [Worker 0] Worker 0 house 1 episode 0 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:03:46 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:03:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 00:03:46 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/09 00:03:48 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:03:48 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 00:03:48 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/09 00:03:49 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:03:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 00:03:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:03:58 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:03:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 00:03:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:03:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:03:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:03:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.36s (batch: 4.33s, save: 9.04s)	[pipeline.py: 300]
+05/09 00:04:00 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.02s:
+  episode_total: mean=203.49s, total=203.49s, count=1, min=203489.8ms, max=203489.8ms
+  sensor_polling: mean=442.2ms, total=131.32s, count=297, min=385.0ms, max=638.7ms
+  save_trajectories: mean=9.04s, total=9.04s, count=1, min=9035.9ms, max=9035.9ms
+  physics_step: mean=22.0ms, total=6.54s, count=297, min=16.8ms, max=87.9ms
+  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4325.7ms, max=4325.7ms
+  task_sampling: mean=4.02s, total=4.02s, count=1, min=4017.5ms, max=4017.5ms
+  scene_load: mean=3.15s, total=3.15s, count=1, min=3149.8ms, max=3149.8ms
+  scene_env_create: mean=2.20s, total=2.20s, count=1, min=2204.2ms, max=2204.2ms
+  task_specific_sample: mean=863.8ms, total=863.8ms, count=1, min=863.8ms, max=863.8ms
+  scene_compile: mean=792.6ms, total=792.6ms, count=1, min=792.6ms, max=792.6ms
+  compile_mujoco: mean=498.9ms, total=498.9ms, count=1, min=498.9ms, max=498.9ms
+  compile_xml_load: mean=203.9ms, total=203.9ms, count=1, min=203.9ms, max=203.9ms
+  scene_init: mean=114.8ms, total=114.8ms, count=1, min=114.8ms, max=114.8ms
+  compile_aux_objects: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms
+  compile_aux_policy_objects: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms
+  scene_asset_install: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms
+  asset_install_grasps: mean=27.3ms, total=27.3ms, count=1, min=27.3ms, max=27.3ms
+  asset_install_objects: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
+  compile_robot_add: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=641.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=101.3us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/09 00:04:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:04:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:04:01 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.11s (batch: 4.27s, save: 8.84s)	[pipeline.py: 300]
+05/09 00:04:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:04:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:04:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:04:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:04:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:04:01 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:04:01 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:04:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:04:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030959m	[env.py: 870]
+05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:04:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98127633  0.41236044 -0.0309591 ] yaw=177.5deg	[env.py: 1019]
+05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.17204856  0.09403337 -0.0309591 ] yaw=157.9deg	[env.py: 1019]
+05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.00544062  0.65896331 -0.0309591 ] yaw=-168.1deg	[env.py: 1019]
+05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:04:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=229.5ms, total=229.6ms	[env.py: 1075]
+05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.981, 0.412, -0.031)	[env.py: 1079]
+05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.5 deg	[env.py: 1082]
+05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
+05/09 00:04:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:04:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:04:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:04:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:04:01 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.23s (batch: 3.72s, save: 8.51s)	[pipeline.py: 300]
+05/09 00:04:01 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 00:04:01 INFO: [Worker 0] Worker 0 house 1 episode 1/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:04:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:04:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:04:01 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:04:02 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:04:02 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.82s:
+  episode_total: mean=205.07s, total=205.07s, count=1, min=205068.7ms, max=205068.7ms
+  sensor_polling: mean=445.4ms, total=133.18s, count=299, min=388.9ms, max=680.1ms
+  save_trajectories: mean=8.84s, total=8.84s, count=1, min=8835.4ms, max=8835.4ms
+  physics_step: mean=24.2ms, total=7.25s, count=299, min=16.8ms, max=56.3ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4271.3ms, max=4271.3ms
+  task_sampling: mean=3.82s, total=3.82s, count=1, min=3823.2ms, max=3823.2ms
+  scene_load: mean=3.26s, total=3.26s, count=1, min=3264.5ms, max=3264.5ms
+  scene_env_create: mean=2.17s, total=2.17s, count=1, min=2173.1ms, max=2173.1ms
+  scene_compile: mean=916.1ms, total=916.1ms, count=1, min=916.1ms, max=916.1ms
+  compile_mujoco: mean=652.3ms, total=652.3ms, count=1, min=652.3ms, max=652.3ms
+  task_specific_sample: mean=555.5ms, total=555.5ms, count=1, min=555.5ms, max=555.5ms
+  compile_xml_load: mean=197.4ms, total=197.4ms, count=1, min=197.4ms, max=197.4ms
+  scene_init: mean=101.5ms, total=101.5ms, count=1, min=101.5ms, max=101.5ms
+  scene_asset_install: mean=73.5ms, total=73.5ms, count=1, min=73.5ms, max=73.5ms
+  compile_aux_objects: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms
+  compile_aux_policy_objects: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms
+  asset_install_grasps: mean=44.1ms, total=44.1ms, count=1, min=44.1ms, max=44.1ms
+  asset_install_objects: mean=20.4ms, total=20.4ms, count=1, min=20.4ms, max=20.4ms
+  asset_install_scene: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  compile_robot_add: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=370.8us, 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	[profiler_utils.py: 380]
+05/09 00:04:02 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.99s:
+  episode_total: mean=204.91s, total=204.91s, count=1, min=204905.3ms, max=204905.3ms
+  sensor_polling: mean=446.0ms, total=133.80s, count=300, min=385.3ms, max=823.9ms
+  save_trajectories: mean=8.51s, total=8.51s, count=1, min=8510.4ms, max=8510.4ms
+  physics_step: mean=21.2ms, total=6.35s, count=300, min=16.4ms, max=61.3ms
+  task_sampling: mean=3.99s, total=3.99s, count=1, min=3989.0ms, max=3989.0ms
+  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3718.6ms, max=3718.6ms
+  scene_load: mean=3.27s, total=3.27s, count=1, min=3271.5ms, max=3271.5ms
+  scene_env_create: mean=2.14s, total=2.14s, count=1, min=2139.7ms, max=2139.7ms
+  scene_compile: mean=842.7ms, total=842.7ms, count=1, min=842.7ms, max=842.7ms
+  task_specific_sample: mean=713.3ms, total=713.3ms, count=1, min=713.3ms, max=713.3ms
+  compile_mujoco: mean=563.1ms, total=563.1ms, count=1, min=563.1ms, max=563.1ms
+  scene_init: mean=248.7ms, total=248.7ms, count=1, min=248.7ms, max=248.7ms
+  compile_xml_load: mean=214.6ms, total=214.6ms, count=1, min=214.6ms, max=214.6ms
+  compile_aux_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms
+  compile_aux_policy_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms
+  scene_asset_install: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
+  asset_install_grasps: mean=28.7ms, total=28.7ms, count=1, min=28.7ms, max=28.7ms
+  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  compile_robot_add: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
+  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=887.6us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
+  policy_setup: mean=38.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:04:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.432s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:04:02 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.491[m] 87.519[deg]	[grasp_sample.py: 539]
+05/09 00:04:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:04:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:04:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:04:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:04:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:04:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:04:03 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:04:03 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:04:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:04:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032732m	[env.py: 870]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:04:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14545602  0.94483665  0.03273214] yaw=-133.1deg	[env.py: 1019]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83315395  0.37456394  0.03273214] yaw=180.6deg	[env.py: 1019]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97436767  0.38994519  0.03273214] yaw=183.3deg	[env.py: 1019]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:04:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.5ms, total=69.6ms	[env.py: 1075]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.145, 0.945, 0.033)	[env.py: 1079]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg	[env.py: 1082]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m	[env.py: 1086]
+05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:04:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:04:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:04:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:04:03 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:04:03 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:04:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:04:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009506m	[env.py: 870]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:04:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.23415254  0.9579142   0.00950568] yaw=-129.0deg	[env.py: 1019]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11739411  1.13060448  0.00950568] yaw=-142.0deg	[env.py: 1019]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92031633  0.46856405  0.00950568] yaw=-168.8deg	[env.py: 1019]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:04:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.8ms, total=130.8ms	[env.py: 1075]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.234, 0.958, 0.010)	[env.py: 1079]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.0 deg	[env.py: 1082]
+05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m	[env.py: 1086]
+05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:04:04 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/09 00:04:04 INFO: [Worker 0] Worker 0 house 1 episode 1/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:04:04 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 00:04:04 INFO: [Worker 0] Worker 0 house 1 episode 1/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:04:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:04:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:04:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:04:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:04:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:04:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:04:04 INFO: [Worker 0] Collision-checked 388 grasps in 0.088s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:04:04 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:04:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.377s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:04:04 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.390[m] 80.802[deg]	[grasp_sample.py: 539]
+05/09 00:04:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:04:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.432s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:04:04 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.483[m] 88.853[deg]	[grasp_sample.py: 539]
+05/09 00:04:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:04:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:04:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:04:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:04:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:04:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:04:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:04:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.48s (batch: 3.83s, save: 8.65s)	[pipeline.py: 300]
+05/09 00:04:11 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.17s:
+  episode_total: mean=215.62s, total=215.62s, count=1, min=215619.6ms, max=215619.6ms
+  sensor_polling: mean=444.7ms, total=133.42s, count=300, min=370.1ms, max=715.5ms
+  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8647.0ms, max=8647.0ms
+  physics_step: mean=21.4ms, total=6.41s, count=300, min=14.5ms, max=64.3ms
+  task_sampling: mean=4.17s, total=4.17s, count=1, min=4172.2ms, max=4172.2ms
+  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3832.2ms, max=3832.2ms
+  scene_load: mean=3.47s, total=3.47s, count=1, min=3472.0ms, max=3472.0ms
+  scene_env_create: mean=2.31s, total=2.31s, count=1, min=2310.9ms, max=2310.9ms
+  scene_compile: mean=1.01s, total=1.01s, count=1, min=1006.6ms, max=1006.6ms
+  task_specific_sample: mean=696.0ms, total=696.0ms, count=1, min=696.0ms, max=696.0ms
+  compile_mujoco: mean=509.6ms, total=509.6ms, count=1, min=509.6ms, max=509.6ms
+  compile_xml_load: mean=422.8ms, total=422.8ms, count=1, min=422.8ms, max=422.8ms
+  scene_init: mean=113.2ms, total=113.2ms, count=1, min=113.2ms, max=113.2ms
+  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=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
+  asset_install_grasps: mean=28.6ms, total=28.6ms, count=1, min=28.6ms, max=28.6ms
+  compile_robot_add: mean=15.9ms, total=15.9ms, count=1, min=15.9ms, max=15.9ms
+  asset_install_objects: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=747.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=59.3us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/09 00:04:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:04:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:04:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:04:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:04:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:04:13 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:04:13 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:04:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:04:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039197m	[env.py: 870]
+05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:04:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99426168  0.65459672 -0.03919677] yaw=-164.4deg	[env.py: 1019]
+05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8780579   0.61174208 -0.03919677] yaw=-162.6deg	[env.py: 1019]
+05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.06658197  0.25823304 -0.03919677] yaw=156.6deg	[env.py: 1019]
+05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:04:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=335.4ms, total=335.4ms	[env.py: 1075]
+05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.994, 0.655, -0.039)	[env.py: 1079]
+05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.4 deg	[env.py: 1082]
+05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
+05/09 00:04:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:04:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:04:13 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 00:04:13 INFO: [Worker 0] Worker 0 house 1 episode 1/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:04:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:04:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:04:14 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:04:14 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:04:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.935s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:04:15 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.492[m] 89.317[deg]	[grasp_sample.py: 539]
+05/09 00:04:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:04:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:04:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:04:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:04:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:04:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:04:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:04:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:05:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:05:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:05:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:05:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:05:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:05:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:05:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:06:19 INFO: [Worker 0] Worker 0 house 1 episode 1 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:06:25 INFO: [Worker 0] Worker 0 house 1 episode 1 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:06:27 INFO: [Worker 0] Worker 0 house 1 episode 1 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:06:36 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:06:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 00:06:36 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
+05/09 00:06:39 INFO: [Worker 0] Worker 0 house 1 episode 1 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:06:43 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:06:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 00:06:43 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
+05/09 00:06:45 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:06:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 00:06:45 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/09 00:06:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:06:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:06:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.16s (batch: 3.74s, save: 7.42s)	[pipeline.py: 300]
+05/09 00:06:47 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.37s:
+  episode_total: mean=164.06s, total=164.06s, count=1, min=164059.8ms, max=164059.8ms
+  sensor_polling: mean=460.4ms, total=125.69s, count=273, min=388.7ms, max=761.5ms
+  save_trajectories: mean=7.42s, total=7.42s, count=1, min=7422.2ms, max=7422.2ms
+  physics_step: mean=22.2ms, total=6.07s, count=273, min=14.9ms, max=54.3ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3738.0ms, max=3738.0ms
+  task_sampling: mean=367.2ms, total=367.2ms, count=1, min=367.2ms, max=367.2ms
+  task_specific_sample: mean=363.0ms, total=363.0ms, count=1, min=363.0ms, max=363.0ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=514.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:06:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:06:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:06:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:06:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:06:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:06:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:06:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:06:49 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:06:49 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]
+05/09 00:06:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:06:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048135m	[env.py: 870]
+05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:06:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.20505914  1.01753949 -0.04813542] yaw=-133.8deg	[env.py: 1019]
+05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98685887  0.66871631 -0.04813542] yaw=-171.9deg	[env.py: 1019]
+05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93105166  0.62803535 -0.04813542] yaw=-173.0deg	[env.py: 1019]
+05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:06:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.3ms, total=94.3ms	[env.py: 1075]
+05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.205, 1.018, -0.048)	[env.py: 1079]
+05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.8 deg	[env.py: 1082]
+05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m	[env.py: 1086]
+05/09 00:06:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:06:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:06:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:06:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:06:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 00:06:49 INFO: [Worker 0] Worker 0 house 1 episode 2/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:06:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:06:49 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]
+05/09 00:06:49 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:06:49 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:06:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.438s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:06:50 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.479[m] 79.183[deg]	[grasp_sample.py: 539]
+05/09 00:06:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:06:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:06:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:06:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:06:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:06:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.65s (batch: 3.35s, save: 9.30s)	[pipeline.py: 300]
+05/09 00:06:57 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.50s:
+  episode_total: mean=175.77s, total=175.77s, count=1, min=175773.1ms, max=175773.1ms
+  sensor_polling: mean=453.2ms, total=133.70s, count=295, min=387.0ms, max=690.1ms
+  save_trajectories: mean=9.30s, total=9.30s, count=1, min=9298.9ms, max=9298.9ms
+  physics_step: mean=21.9ms, total=6.45s, count=295, min=13.6ms, max=70.8ms
+  save_batch_prep: mean=3.35s, total=3.35s, count=1, min=3353.2ms, max=3353.2ms
+  task_sampling: mean=504.4ms, total=504.4ms, count=1, min=504.4ms, max=504.4ms
+  task_specific_sample: mean=500.8ms, total=500.8ms, count=1, min=500.8ms, max=500.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=371.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:06:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:06:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:06:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.13s (batch: 3.67s, save: 9.46s)	[pipeline.py: 300]
+05/09 00:06:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:06:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:06:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:06:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:06:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:06:58 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:06:58 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]
+05/09 00:06:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:06:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001448m	[env.py: 870]
+05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:06:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89112149  0.47579013  0.0014484 ] yaw=-185.9deg	[env.py: 1019]
+05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:06:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=147.4ms, total=147.4ms	[env.py: 1075]
+05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.891, 0.476, 0.001)	[env.py: 1079]
+05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.9 deg	[env.py: 1082]
+05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
+05/09 00:06:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:06:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:06:59 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.41s:
+  episode_total: mean=175.52s, total=175.52s, count=1, min=175523.6ms, max=175523.6ms
+  sensor_polling: mean=453.4ms, total=133.29s, count=294, min=386.3ms, max=715.0ms
+  save_trajectories: mean=9.46s, total=9.46s, count=1, min=9455.1ms, max=9455.1ms
+  physics_step: mean=21.8ms, total=6.40s, count=294, min=16.9ms, max=60.6ms
+  save_batch_prep: mean=3.67s, total=3.67s, count=1, min=3672.8ms, max=3672.8ms
+  task_sampling: mean=410.1ms, total=410.1ms, count=1, min=410.1ms, max=410.1ms
+  task_specific_sample: mean=406.4ms, total=406.4ms, count=1, min=406.4ms, max=406.4ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=368.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:06:59 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 00:06:59 INFO: [Worker 0] Worker 0 house 1 episode 2/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:06:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:06:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:06:59 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:06:59 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:06:59 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:06:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 00:06:59 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
+05/09 00:06:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.569s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:06:59 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.515[m] 82.713[deg]	[grasp_sample.py: 539]
+05/09 00:06:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:07:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:07:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:07:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:07:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:07:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:07:00 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:07:00 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:07:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:07:00 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]
+05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032242m	[env.py: 870]
+05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:07:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95407336  0.88812837  0.03224244] yaw=-143.9deg	[env.py: 1019]
+05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94227664 -0.0061803   0.03224244] yaw=144.0deg	[env.py: 1019]
+05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95636584  0.18278758  0.03224244] yaw=155.1deg	[env.py: 1019]
+05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:07:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=74.7ms, total=74.8ms	[env.py: 1075]
+05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.954, 0.888, 0.032)	[env.py: 1079]
+05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.9 deg	[env.py: 1082]
+05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
+05/09 00:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:07:01 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 00:07:01 INFO: [Worker 0] Worker 0 house 1 episode 2/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:07:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:07:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:07:01 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:07:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:07:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.456s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:07:02 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.638[m] 94.934[deg]	[grasp_sample.py: 539]
+05/09 00:07:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:07:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:07:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:07:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:07:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:07:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.49s (batch: 3.53s, save: 7.96s)	[pipeline.py: 300]
+05/09 00:07:11 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.60s:
+  episode_total: mean=178.17s, total=178.17s, count=1, min=178172.8ms, max=178172.8ms
+  sensor_polling: mean=453.2ms, total=134.16s, count=296, min=359.1ms, max=686.4ms
+  save_trajectories: mean=7.96s, total=7.96s, count=1, min=7956.1ms, max=7956.1ms
+  physics_step: mean=22.5ms, total=6.66s, count=296, min=15.8ms, max=42.2ms
+  save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3529.1ms, max=3529.1ms
+  task_sampling: mean=595.8ms, total=595.8ms, count=1, min=595.8ms, max=595.8ms
+  task_specific_sample: mean=591.8ms, total=591.8ms, count=1, min=591.8ms, max=591.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=483.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:07:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:07:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:07:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:07:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:07:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:07:13 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:07:13 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:07:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:07:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.022247m	[env.py: 870]
+05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:07:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04147937  0.52095414 -0.02224693] yaw=-178.2deg	[env.py: 1019]
+05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.30882886  1.00088848 -0.02224693] yaw=-129.7deg	[env.py: 1019]
+05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.12983763  0.10641478 -0.02224693] yaw=146.2deg	[env.py: 1019]
+05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:07:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.4ms, total=122.4ms	[env.py: 1075]
+05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.041, 0.521, -0.022)	[env.py: 1079]
+05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.2 deg	[env.py: 1082]
+05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.769m	[env.py: 1086]
+05/09 00:07:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:07:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:07:13 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 00:07:13 INFO: [Worker 0] Worker 0 house 1 episode 2/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:07:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:07:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:07:13 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:07:13 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:07:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.415s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:07:14 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.422[m] 86.064[deg]	[grasp_sample.py: 539]
+05/09 00:07:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:07:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:07:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:07:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:07:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:07:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:07:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:07:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:07:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:08:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:08:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:08:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:08:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:08:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:08:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:08:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:08:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:08:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:08:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:08:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:09:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:09:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:09:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:09:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 00:09:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 00:09:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:09:03 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:09:03 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 324 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:09:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.642s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:09:05 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.085[m] 0.515[deg]	[grasp_sample.py: 539]
+05/09 00:09:06 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/09 00:09:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:09:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:09:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:09:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:09:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:09:07 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:09:07 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:09:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:09:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.016658m	[env.py: 870]
+05/09 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:09:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9405856   0.46750782 -0.01665768] yaw=-181.0deg	[env.py: 1019]
+05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:09:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=367.7ms, total=367.7ms	[env.py: 1075]
+05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.468, -0.017)	[env.py: 1079]
+05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.0 deg	[env.py: 1082]
+05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/09 00:09:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:09:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:09:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:09:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:09:08 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 00:09:08 INFO: [Worker 0] Worker 0 house 1 episode 3/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:09:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:09:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:09:08 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:09:08 INFO: [Worker 0] Collision-checked 388 grasps in 0.113s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:09:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.082s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:09:09 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.558[m] 95.969[deg]	[grasp_sample.py: 539]
+05/09 00:09:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:09:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:09:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:09:27 INFO: [Worker 0] Worker 0 house 1 episode 2 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:09:29 INFO: [Worker 0] Worker 0 house 1 episode 2 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:09:33 INFO: [Worker 0] Worker 0 house 1 episode 2 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:09:45 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:09:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 00:09:45 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
+05/09 00:09:47 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:09:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 00:09:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:09:50 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:09:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 00:09:50 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
+05/09 00:09:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:09:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:09:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.69s (batch: 3.90s, save: 7.79s)	[pipeline.py: 300]
+05/09 00:09:58 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.40s:
+  episode_total: mean=179.39s, total=179.39s, count=1, min=179387.8ms, max=179387.8ms
+  sensor_polling: mean=456.7ms, total=136.09s, count=298, min=388.2ms, max=855.1ms
+  save_trajectories: mean=7.79s, total=7.79s, count=1, min=7792.1ms, max=7792.1ms
+  physics_step: mean=22.3ms, total=6.66s, count=298, min=16.8ms, max=56.9ms
+  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3902.7ms, max=3902.7ms
+  task_sampling: mean=401.0ms, total=401.0ms, count=1, min=401.0ms, max=401.0ms
+  task_specific_sample: mean=397.2ms, total=397.2ms, count=1, min=397.2ms, max=397.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=504.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:09:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:09:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:09:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.60s (batch: 3.87s, save: 7.73s)	[pipeline.py: 300]
+05/09 00:09:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:09:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:09:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:09:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:09:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:09:59 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:09:59 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:09:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:09:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043997m	[env.py: 870]
+05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:09:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14310753  0.66454958 -0.04399677] yaw=-169.6deg	[env.py: 1019]
+05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85955858  0.45210807 -0.04399677] yaw=-178.8deg	[env.py: 1019]
+05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04308749  0.13164226 -0.04399677] yaw=148.0deg	[env.py: 1019]
+05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:09:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=75.7ms, total=75.7ms	[env.py: 1075]
+05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.143, 0.665, -0.044)	[env.py: 1079]
+05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.6 deg	[env.py: 1082]
+05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.703m	[env.py: 1086]
+05/09 00:09:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:09:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:09:59 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.32s:
+  episode_total: mean=179.27s, total=179.27s, count=1, min=179269.2ms, max=179269.2ms
+  sensor_polling: mean=455.8ms, total=136.73s, count=300, min=387.9ms, max=919.3ms
+  save_trajectories: mean=7.73s, total=7.73s, count=1, min=7732.3ms, max=7732.3ms
+  physics_step: mean=21.9ms, total=6.58s, count=300, min=14.9ms, max=69.9ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3866.1ms, max=3866.1ms
+  task_sampling: mean=320.6ms, total=320.6ms, count=1, min=320.6ms, max=320.6ms
+  task_specific_sample: mean=316.7ms, total=316.7ms, count=1, min=316.7ms, max=316.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=453.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:10:00 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 00:10:00 INFO: [Worker 0] Worker 0 house 1 episode 3/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:10:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:10:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:10:00 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:10:00 INFO: [Worker 0] Collision-checked 388 grasps in 0.061s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:10:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.374s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:10:00 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.415[m] 92.499[deg]	[grasp_sample.py: 539]
+05/09 00:10:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:10:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:10:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:10:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:10:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:10:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:10:01 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.77s (batch: 3.55s, save: 7.22s)	[pipeline.py: 300]
+05/09 00:10:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:10:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:10:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:10:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:10:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:10:01 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:10:01 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:10:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:10:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.010m, effective arm-mount z=0.850m (base_body_z=-0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010257m	[env.py: 870]
+05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:10:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88884788  0.3919794  -0.01025675] yaw=168.8deg	[env.py: 1019]
+05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02176386  0.0024486  -0.01025675] yaw=141.9deg	[env.py: 1019]
+05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07097303  0.79882549 -0.01025675] yaw=-162.2deg	[env.py: 1019]
+05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:10:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=75.6ms, total=75.6ms	[env.py: 1075]
+05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.889, 0.392, -0.010)	[env.py: 1079]
+05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.8 deg	[env.py: 1082]
+05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/09 00:10:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:10:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:10:01 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/09 00:10:01 INFO: [Worker 0] Worker 0 house 1 episode 3/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:10:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:10:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:10:01 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:10:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:10:02 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.45s:
+  episode_total: mean=168.94s, total=168.94s, count=1, min=168935.5ms, max=168935.5ms
+  sensor_polling: mean=459.9ms, total=129.24s, count=281, min=390.1ms, max=808.0ms
+  save_trajectories: mean=7.22s, total=7.22s, count=1, min=7221.3ms, max=7221.3ms
+  physics_step: mean=22.6ms, total=6.35s, count=281, min=13.6ms, max=63.1ms
+  save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3551.9ms, max=3551.9ms
+  task_sampling: mean=449.4ms, total=449.4ms, count=1, min=449.4ms, max=449.4ms
+  task_specific_sample: mean=445.9ms, total=445.9ms, count=1, min=445.9ms, max=445.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=358.2us, 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]
+05/09 00:10:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.509s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:10:02 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.581[m] 91.493[deg]	[grasp_sample.py: 539]
+05/09 00:10:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:10:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:10:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:10:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:10:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:10:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:10:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:10:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:10:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:10:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:10:03 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:10:03 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:10:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:10:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009531m	[env.py: 870]
+05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:10:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94722625  0.29693462  0.00953071] yaw=164.7deg	[env.py: 1019]
+05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.2878056   1.00334144  0.00953071] yaw=-127.7deg	[env.py: 1019]
+05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98830716  0.4230045   0.00953071] yaw=175.0deg	[env.py: 1019]
+05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:10:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.3ms, total=140.4ms	[env.py: 1075]
+05/09 00:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.947, 0.297, 0.010)	[env.py: 1079]
+05/09 00:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.7 deg	[env.py: 1082]
+05/09 00:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m	[env.py: 1086]
+05/09 00:10:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:10:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:10:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:10:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:10:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 00:10:04 INFO: [Worker 0] Worker 0 house 1 episode 3/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:10:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:10:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:10:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:10:04 INFO: [Worker 0] Collision-checked 388 grasps in 0.109s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:10:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.467s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:10:04 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.515[m] 91.447[deg]	[grasp_sample.py: 539]
+05/09 00:10:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:10:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:10:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:10:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:10:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:10:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:10:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:10:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:10:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:10:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:11:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:11:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:11:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:11:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:11:32 INFO: [Worker 0] Worker 0 house 1 episode 3 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:11:57 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:11:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 00:11:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:12:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:12:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:12:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.62s (batch: 3.78s, save: 7.84s)	[pipeline.py: 300]
+05/09 00:12:09 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.99s:
+  episode_total: mean=159.52s, total=319.03s, count=2, min=136982.4ms, max=182051.2ms
+  sensor_polling: mean=448.4ms, total=249.32s, count=556, min=369.5ms, max=862.7ms
+  physics_step: mean=22.0ms, total=12.25s, count=556, min=13.6ms, max=118.0ms
+  save_trajectories: mean=7.84s, total=7.84s, count=1, min=7841.0ms, max=7841.0ms
+  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3777.1ms, max=3777.1ms
+  task_sampling: mean=492.6ms, total=985.3ms, count=2, min=388.9ms, max=596.4ms
+  task_specific_sample: mean=489.6ms, total=979.2ms, count=2, min=385.8ms, max=593.4ms
+  scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=1.3ms, max=2.0ms
+  mj_forward_sync: mean=407.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.9us, 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]
+05/09 00:12:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:12:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:12:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:12:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:12:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:12:11 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:12:11 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:12:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:12:11 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]
+05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020320m	[env.py: 870]
+05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:12:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91121068  0.50471555 -0.02031968] yaw=-178.1deg	[env.py: 1019]
+05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96573144  0.39319504 -0.02031968] yaw=178.3deg	[env.py: 1019]
+05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88674589  0.06332456 -0.02031968] yaw=149.4deg	[env.py: 1019]
+05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:12:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=89.3ms, total=89.3ms	[env.py: 1075]
+05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.911, 0.505, -0.020)	[env.py: 1079]
+05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.1 deg	[env.py: 1082]
+05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
+05/09 00:12:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:12:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:12:11 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 00:12:11 INFO: [Worker 0] Worker 0 house 1 episode 4/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:12:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:12:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:12:11 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:12:11 INFO: [Worker 0] Collision-checked 388 grasps in 0.065s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:12:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.709s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:12:12 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.582[m] 97.492[deg]	[grasp_sample.py: 539]
+05/09 00:12:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:12:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:12:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:12:17 INFO: [Worker 0] Worker 0 house 1 episode 3 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:12:28 INFO: [Worker 0] Worker 0 house 1 episode 3 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:12:33 INFO: [Worker 0] Worker 0 house 1 episode 3 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:12:37 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:12:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 00:12:37 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
+05/09 00:12:46 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:12:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 00:12:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:12:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:12:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:12:48 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.10s (batch: 3.61s, save: 7.49s)	[pipeline.py: 300]
+05/09 00:12:49 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.32s:
+  episode_total: mean=169.46s, total=169.46s, count=1, min=169464.6ms, max=169464.6ms
+  sensor_polling: mean=452.2ms, total=127.06s, count=281, min=383.5ms, max=722.8ms
+  save_trajectories: mean=7.49s, total=7.49s, count=1, min=7488.7ms, max=7488.7ms
+  physics_step: mean=22.6ms, total=6.36s, count=281, min=13.6ms, max=57.3ms
+  save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3611.6ms, max=3611.6ms
+  task_sampling: mean=324.5ms, total=324.5ms, count=1, min=324.5ms, max=324.5ms
+  task_specific_sample: mean=321.3ms, total=321.3ms, count=1, min=321.3ms, max=321.3ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=381.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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]
+05/09 00:12:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:12:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:12:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:12:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:12:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:12:50 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:12:50 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:12:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:12:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024562m	[env.py: 870]
+05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:12:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89822526  0.29664971 -0.0245616 ] yaw=170.4deg	[env.py: 1019]
+05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81185689  0.35028348 -0.0245616 ] yaw=173.7deg	[env.py: 1019]
+05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87706448  0.51612479 -0.0245616 ] yaw=-166.2deg	[env.py: 1019]
+05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:12:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=73.2ms, total=73.3ms	[env.py: 1075]
+05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.898, 0.297, -0.025)	[env.py: 1079]
+05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.4 deg	[env.py: 1082]
+05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
+05/09 00:12:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:12:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:12:50 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 00:12:50 INFO: [Worker 0] Worker 0 house 1 episode 4/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:12:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:12:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:12:51 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:12:51 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:12:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.533s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:12:51 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.585[m] 94.593[deg]	[grasp_sample.py: 539]
+05/09 00:12:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:12:51 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:12:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 00:12:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:12:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:12:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:12:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:12:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:12:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.52s (batch: 3.69s, save: 7.83s)	[pipeline.py: 300]
+05/09 00:12:58 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.36s:
+  episode_total: mean=177.23s, total=177.23s, count=1, min=177229.3ms, max=177229.3ms
+  sensor_polling: mean=453.1ms, total=135.92s, count=300, min=392.8ms, max=857.0ms
+  save_trajectories: mean=7.83s, total=7.83s, count=1, min=7826.8ms, max=7826.8ms
+  physics_step: mean=21.6ms, total=6.49s, count=300, min=13.6ms, max=65.4ms
+  save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3694.5ms, max=3694.5ms
+  task_sampling: mean=360.1ms, total=360.1ms, count=1, min=360.1ms, max=360.1ms
+  task_specific_sample: mean=356.7ms, total=356.7ms, count=1, min=356.7ms, max=356.7ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=371.2us, 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]
+05/09 00:13:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:13:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:13:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:13:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:13:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:13:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:13:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:13:00 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:13:00 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:13:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:13:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019830m	[env.py: 870]
+05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:13:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93272313  0.3828838   0.01982986] yaw=167.9deg	[env.py: 1019]
+05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02842578  0.64727135  0.01982986] yaw=-155.3deg	[env.py: 1019]
+05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85579009  0.62174355  0.01982986] yaw=-177.8deg	[env.py: 1019]
+05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:13:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.7ms, total=147.8ms	[env.py: 1075]
+05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.933, 0.383, 0.020)	[env.py: 1079]
+05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.9 deg	[env.py: 1082]
+05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m	[env.py: 1086]
+05/09 00:13:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:13:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:13:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:13:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:13:00 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 00:13:00 INFO: [Worker 0] Worker 0 house 1 episode 4/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:13:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:13:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:13:00 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:13:00 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:13:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.385s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:13:01 INFO: [Worker 0] Feasible grasp found 348 (originally 154): w/ 0.473[m] 84.262[deg]	[grasp_sample.py: 539]
+05/09 00:13:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:13:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:13:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:13:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:13:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:13:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.44s (batch: 3.59s, save: 7.84s)	[pipeline.py: 300]
+05/09 00:13:03 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.42s:
+  episode_total: mean=179.99s, total=179.99s, count=1, min=179990.7ms, max=179990.7ms
+  sensor_polling: mean=458.2ms, total=137.45s, count=300, min=374.4ms, max=786.0ms
+  save_trajectories: mean=7.84s, total=7.84s, count=1, min=7842.0ms, max=7842.0ms
+  physics_step: mean=22.4ms, total=6.72s, count=300, min=13.5ms, max=54.3ms
+  save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3594.5ms, max=3594.5ms
+  task_sampling: mean=423.8ms, total=423.8ms, count=1, min=423.8ms, max=423.8ms
+  task_specific_sample: mean=419.5ms, total=419.5ms, count=1, min=419.5ms, max=419.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=515.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:13:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:13:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:13:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:13:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:13:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:13:05 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:13:05 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:13:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:13:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030883m	[env.py: 870]
+05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:13:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93354959  0.34993759 -0.03088339] yaw=179.4deg	[env.py: 1019]
+05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98642861  0.52078662 -0.03088339] yaw=-172.6deg	[env.py: 1019]
+05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.13467523  0.75845422 -0.03088339] yaw=-146.1deg	[env.py: 1019]
+05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:13:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.2ms, total=112.3ms	[env.py: 1075]
+05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.934, 0.350, -0.031)	[env.py: 1079]
+05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.4 deg	[env.py: 1082]
+05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m	[env.py: 1086]
+05/09 00:13:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:13:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:13:05 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 00:13:05 INFO: [Worker 0] Worker 0 house 1 episode 4/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:13:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:13:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:13:05 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:13:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:13:05 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:13:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.420s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:13:06 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.570[m] 97.492[deg]	[grasp_sample.py: 539]
+05/09 00:13:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:13:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:13:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:13:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:13:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:13:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:13:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:13:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:13:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:13:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:13:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:13:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:14:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:14:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:14:26 INFO: [Worker 0] Worker 0 house 1 episode 4 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:14:45 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:14:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 00:14:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:14:49 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/09 00:14:49 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.35s:
+  episode_total: mean=157.94s, total=157.94s, count=1, min=157936.7ms, max=157936.7ms
+  sensor_polling: mean=419.9ms, total=125.96s, count=300, min=360.1ms, max=781.6ms
+  physics_step: mean=19.4ms, total=5.82s, count=300, min=16.4ms, max=62.5ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3874.7ms, max=3874.7ms
+  task_sampling: mean=353.0ms, total=353.0ms, count=1, min=353.0ms, max=353.0ms
+  task_specific_sample: mean=349.0ms, total=349.0ms, count=1, min=349.0ms, max=349.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=371.8us, 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]
+05/09 00:14:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:14:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:14:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:14:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:14:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:14:50 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:14:50 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:14:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:14:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013695m	[env.py: 870]
+05/09 00:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:14:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.23590694  1.11633611 -0.01369486] yaw=-128.3deg	[env.py: 1019]
+05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9527045   0.6259481  -0.01369486] yaw=-171.7deg	[env.py: 1019]
+05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92210555  0.3833458  -0.01369486] yaw=178.6deg	[env.py: 1019]
+05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:14:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.2ms, total=93.2ms	[env.py: 1075]
+05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.236, 1.116, -0.014)	[env.py: 1079]
+05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.3 deg	[env.py: 1082]
+05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
+05/09 00:14:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:14:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:14:51 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 00:14:51 INFO: [Worker 0] Worker 0 house 1 episode 5/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:14:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:14:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:14:51 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:14:51 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:14:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.595s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:14:54 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.564[m] 87.029[deg]	[grasp_sample.py: 539]
+05/09 00:14:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:14:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:14:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:15:03 INFO: [Worker 0] Worker 0 house 1 episode 4 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:15:11 INFO: [Worker 0] Worker 0 house 1 episode 4 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:15:19 INFO: [Worker 0] Worker 0 house 1 episode 4 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:15:22 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:15:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 00:15:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:15:25 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/09 00:15:26 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.36s:
+  episode_total: mean=155.41s, total=155.41s, count=1, min=155412.2ms, max=155412.2ms
+  sensor_polling: mean=414.1ms, total=124.23s, count=300, min=379.7ms, max=638.0ms
+  physics_step: mean=18.7ms, total=5.62s, count=300, min=13.5ms, max=30.0ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3877.8ms, max=3877.8ms
+  task_sampling: mean=364.3ms, total=364.3ms, count=1, min=364.3ms, max=364.3ms
+  task_specific_sample: mean=360.6ms, total=360.6ms, count=1, min=360.6ms, max=360.6ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=374.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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]
+05/09 00:15:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:15:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:15:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:15:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:15:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:15:27 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:15:27 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:15:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:15:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.033m, effective arm-mount z=0.827m (base_body_z=-0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032936m	[env.py: 870]
+05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:15:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.24876002  0.97295115 -0.03293634] yaw=-137.9deg	[env.py: 1019]
+05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98348659  0.75149288 -0.03293634] yaw=-164.5deg	[env.py: 1019]
+05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86226098  0.20803583 -0.03293634] yaw=160.5deg	[env.py: 1019]
+05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:15:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.7ms, total=167.8ms	[env.py: 1075]
+05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.249, 0.973, -0.033)	[env.py: 1079]
+05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.9 deg	[env.py: 1082]
+05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m	[env.py: 1086]
+05/09 00:15:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:15:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:15:28 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 00:15:28 INFO: [Worker 0] Worker 0 house 1 episode 5/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:15:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:15:28 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]
+05/09 00:15:28 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:15:28 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:15:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.419s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:15:28 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.420[m] 89.620[deg]	[grasp_sample.py: 539]
+05/09 00:15:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:15:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:15:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:15:29 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:15:29 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 00:15:29 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
+05/09 00:15:33 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]
+05/09 00:15:34 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.40s:
+  episode_total: mean=153.85s, total=153.85s, count=1, min=153852.3ms, max=153852.3ms
+  sensor_polling: mean=419.9ms, total=121.77s, count=290, min=392.4ms, max=629.2ms
+  physics_step: mean=20.9ms, total=6.06s, count=290, min=13.3ms, max=35.4ms
+  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3952.8ms, max=3952.8ms
+  task_sampling: mean=396.8ms, total=396.8ms, count=1, min=396.8ms, max=396.8ms
+  task_specific_sample: mean=393.4ms, total=393.4ms, count=1, min=393.4ms, max=393.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=369.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:15:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:15:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:15:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:15:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:15:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:15:35 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:15:35 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:15:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:15:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044788m	[env.py: 870]
+05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:15:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06222975  0.45020851 -0.04478835] yaw=-176.1deg	[env.py: 1019]
+05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.20441647  0.95121439 -0.04478835] yaw=-131.3deg	[env.py: 1019]
+05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11599224  0.15295518 -0.04478835] yaw=163.6deg	[env.py: 1019]
+05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:15:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.8ms, total=90.9ms	[env.py: 1075]
+05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.062, 0.450, -0.045)	[env.py: 1079]
+05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.1 deg	[env.py: 1082]
+05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.743m	[env.py: 1086]
+05/09 00:15:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:15:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:15:36 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 00:15:36 INFO: [Worker 0] Worker 0 house 1 episode 5/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:15:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:15:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:15:36 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:15:36 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:15:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.365s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:15:36 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.377[m] 84.615[deg]	[grasp_sample.py: 539]
+05/09 00:15:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:15:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:15:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:15:37 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:15:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 00:15:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:15:41 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/09 00:15:41 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.36s:
+  episode_total: mean=155.88s, total=155.88s, count=1, min=155877.6ms, max=155877.6ms
+  sensor_polling: mean=416.7ms, total=125.02s, count=300, min=386.0ms, max=659.2ms
+  physics_step: mean=18.8ms, total=5.65s, count=300, min=13.4ms, max=29.4ms
+  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3713.1ms, max=3713.1ms
+  task_sampling: mean=364.3ms, total=364.3ms, count=1, min=364.3ms, max=364.3ms
+  task_specific_sample: mean=360.9ms, total=360.9ms, count=1, min=360.9ms, max=360.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=361.4us, 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]
+05/09 00:15:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:15:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:15:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:15:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:15:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:15:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:15:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:15:42 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:15:42 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]
+05/09 00:15:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:15:42 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]
+05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021094m	[env.py: 870]
+05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:15:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94464499  0.49013966  0.02109354] yaw=-179.4deg	[env.py: 1019]
+05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:15:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=244.3ms, total=244.4ms	[env.py: 1075]
+05/09 00:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.945, 0.490, 0.021)	[env.py: 1079]
+05/09 00:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.4 deg	[env.py: 1082]
+05/09 00:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m	[env.py: 1086]
+05/09 00:15:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:15:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:15:43 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 00:15:43 INFO: [Worker 0] Worker 0 house 1 episode 5/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:15:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:15:43 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]
+05/09 00:15:43 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:15:43 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:15:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:15:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.463s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:15:43 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.521[m] 92.947[deg]	[grasp_sample.py: 539]
+05/09 00:15:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:15:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:15:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:15:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:15:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:16:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:16:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:16:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:16:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:16:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:16:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:16:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:16:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:16:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:16:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:16:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:16:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:16:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:17:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:17:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:17:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:17:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:17:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 00:17:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 00:17:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:17:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:17:04 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 322 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:17:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.384s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:17:05 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.046[m] 0.378[deg]	[grasp_sample.py: 539]
+05/09 00:17:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:17:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:17:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:17:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:17:16 INFO: [Worker 0] Worker 0 house 1 episode 5 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:17:34 INFO: [Worker 0] Worker 0 house 1 episode 5 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:17:34 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:17:34 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 00:17:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:17:38 INFO: [Worker 0] Worker 0 house 1 episode 5 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:17:38 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/09 00:17:38 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.35s:
+  episode_total: mean=167.73s, total=167.73s, count=1, min=167732.9ms, max=167732.9ms
+  sensor_polling: mean=420.2ms, total=126.07s, count=300, min=379.1ms, max=783.9ms
+  physics_step: mean=18.6ms, total=5.58s, count=300, min=13.8ms, max=24.9ms
+  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3755.9ms, max=3755.9ms
+  task_sampling: mean=350.3ms, total=350.3ms, count=1, min=350.3ms, max=350.3ms
+  task_specific_sample: mean=347.2ms, total=347.2ms, count=1, min=347.2ms, max=347.2ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=368.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:17:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:17:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:17:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:17:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:17:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:17:40 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:17:40 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:17:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:17:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039014m	[env.py: 870]
+05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:17:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01583814  0.61365821 -0.0390139 ] yaw=-166.4deg	[env.py: 1019]
+05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.27049108  1.07054668 -0.0390139 ] yaw=-138.9deg	[env.py: 1019]
+05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0910949   0.22261318 -0.0390139 ] yaw=161.2deg	[env.py: 1019]
+05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:17:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.2ms, total=104.2ms	[env.py: 1075]
+05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.016, 0.614, -0.039)	[env.py: 1079]
+05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.4 deg	[env.py: 1082]
+05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/09 00:17:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:17:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:17:40 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 00:17:40 INFO: [Worker 0] Worker 0 house 1 episode 6/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:17:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:17:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:17:40 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:17:40 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:17:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.413s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:17:41 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.528[m] 100.863[deg]	[grasp_sample.py: 539]
+05/09 00:17:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:17:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:17:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:17:52 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:17:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 00:17:52 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/09 00:17:55 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:17:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 00:17:55 INFO: [Worker 0] Preparing episode data: 271 timesteps	[save_utils.py: 278]
+05/09 00:17:56 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/09 00:17:56 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.42s:
+  episode_total: mean=148.97s, total=148.97s, count=1, min=148974.5ms, max=148974.5ms
+  sensor_polling: mean=420.5ms, total=118.58s, count=282, min=390.9ms, max=689.7ms
+  physics_step: mean=19.7ms, total=5.56s, count=282, min=15.3ms, max=40.9ms
+  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3772.4ms, max=3772.4ms
+  task_sampling: mean=423.2ms, total=423.2ms, count=1, min=423.2ms, max=423.2ms
+  task_specific_sample: mean=419.4ms, total=419.4ms, count=1, min=419.4ms, max=419.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=388.5us, 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]
+05/09 00:17:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:17:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:17:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:17:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:17:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:17:58 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:17:58 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]
+05/09 00:17:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:17:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002807m	[env.py: 870]
+05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:17:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.29436915  1.03125941  0.00280733] yaw=-140.0deg	[env.py: 1019]
+05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04134749  0.85305077  0.00280733] yaw=-155.9deg	[env.py: 1019]
+05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10852281  0.73520399  0.00280733] yaw=-153.8deg	[env.py: 1019]
+05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:17:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.9ms, total=99.9ms	[env.py: 1075]
+05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.294, 1.031, 0.003)	[env.py: 1079]
+05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.0 deg	[env.py: 1082]
+05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m	[env.py: 1086]
+05/09 00:17:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:17:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:17:58 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 00:17:58 INFO: [Worker 0] Worker 0 house 1 episode 6/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:17:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:17:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:17:58 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:17:58 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:17:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.398s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:17:58 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.464[m] 82.577[deg]	[grasp_sample.py: 539]
+05/09 00:17:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:17:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:17:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:17:59 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/09 00:17:59 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.38s:
+  episode_total: mean=143.89s, total=143.89s, count=1, min=143885.8ms, max=143885.8ms
+  sensor_polling: mean=424.3ms, total=114.57s, count=270, min=397.9ms, max=703.2ms
+  physics_step: mean=19.2ms, total=5.18s, count=270, min=13.5ms, max=27.6ms
+  save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3627.1ms, max=3627.1ms
+  task_sampling: mean=383.5ms, total=383.5ms, count=1, min=383.5ms, max=383.5ms
+  task_specific_sample: mean=379.9ms, total=379.9ms, count=1, min=379.9ms, max=379.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=372.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:18:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:18:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:18:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:18:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:18:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:18:01 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:18:01 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:18:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:18:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.037759m	[env.py: 870]
+05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:18:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15130183  1.14420377 -0.0377591 ] yaw=-134.8deg	[env.py: 1019]
+05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.10349117  0.50320948 -0.0377591 ] yaw=-180.3deg	[env.py: 1019]
+05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:18:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=160.0ms, total=160.0ms	[env.py: 1075]
+05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.151, 1.144, -0.038)	[env.py: 1079]
+05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.8 deg	[env.py: 1082]
+05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
+05/09 00:18:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:18:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:18:01 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/09 00:18:01 INFO: [Worker 0] Worker 0 house 1 episode 6/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:18:01 INFO: [Worker 0] Worker 0 house 1 episode 5 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:18:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:18:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:18:01 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:18:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:18:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.630s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:18:03 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.613[m] 81.960[deg]	[grasp_sample.py: 539]
+05/09 00:18:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:18:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:18:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:18:19 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:18:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 00:18:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:18:23 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/09 00:18:23 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.50s:
+  episode_total: mean=161.07s, total=161.07s, count=1, min=161071.1ms, max=161071.1ms
+  sensor_polling: mean=423.6ms, total=127.08s, count=300, min=378.6ms, max=680.3ms
+  physics_step: mean=20.1ms, total=6.02s, count=300, min=13.5ms, max=32.9ms
+  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3797.7ms, max=3797.7ms
+  task_sampling: mean=495.4ms, total=495.4ms, count=1, min=495.4ms, max=495.4ms
+  task_specific_sample: mean=491.9ms, total=491.9ms, count=1, min=491.9ms, max=491.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=359.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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]
+05/09 00:18:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:18:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:18:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:18:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:18:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:18:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:18:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:18:25 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:18:25 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:18:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:18:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021421m	[env.py: 870]
+05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:18:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09922384  0.80927558 -0.02142099] yaw=-161.7deg	[env.py: 1019]
+05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:18:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.5ms, total=205.6ms	[env.py: 1075]
+05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.099, 0.809, -0.021)	[env.py: 1079]
+05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.7 deg	[env.py: 1082]
+05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/09 00:18:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:18:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:18:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:18:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:18:25 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 00:18:25 INFO: [Worker 0] Worker 0 house 1 episode 6/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:18:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:18:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:18:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:18:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:18:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.374s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:18:26 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.447[m] 85.816[deg]	[grasp_sample.py: 539]
+05/09 00:18:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:18:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:18:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:18:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:18:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:18:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:18:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:18:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:18:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:18:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:19:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:19:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:19:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:19:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:19:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:19:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:19:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:19:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:19:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:19:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:19:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:19:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:19:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:19:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 00:19:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 00:19:46 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]
+05/09 00:19:46 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:19:46 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 352 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:19:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.401s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:19:47 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.090[m] 10.489[deg]	[grasp_sample.py: 539]
+05/09 00:19:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:19:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:19:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:19:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:19:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:19:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:19:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:19:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:19:54 INFO: [Worker 0] Worker 0 house 1 episode 6 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:19:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:19:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:19:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:19:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:19:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 00:19:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 00:19:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:19:58 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:19:59 INFO: [Worker 0] Collision-checked 388 grasps in 0.087s, found 322 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:20:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.030s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:20:02 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.084[m] 0.122[deg]	[grasp_sample.py: 539]
+05/09 00:20:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:20:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:20:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:20:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:20:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:20:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:20:16 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:20:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 00:20:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:20:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:20:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:20:26 INFO: [Worker 0] Worker 0 house 1 episode 6 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:20:29 INFO: [Worker 0] Worker 0 house 1 episode 6 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:20:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:20:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:20:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.15s (batch: 3.76s, save: 10.39s)	[pipeline.py: 300]
+05/09 00:20:31 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.36s:
+  episode_total: mean=171.19s, total=171.19s, count=1, min=171188.1ms, max=171188.1ms
+  sensor_polling: mean=417.4ms, total=125.22s, count=300, min=387.8ms, max=704.8ms
+  save_trajectories: mean=10.39s, total=10.39s, count=1, min=10391.7ms, max=10391.7ms
+  physics_step: mean=20.9ms, total=6.27s, count=300, min=13.6ms, max=33.5ms
+  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3760.0ms, max=3760.0ms
+  task_sampling: mean=355.2ms, total=355.2ms, count=1, min=355.2ms, max=355.2ms
+  task_specific_sample: mean=350.9ms, total=350.9ms, count=1, min=350.9ms, max=350.9ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=407.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:20:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:20:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:20:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:20:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:20:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:20:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:20:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:20:33 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:20:33 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:20:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:20:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004631m	[env.py: 870]
+05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:20:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.11144975  0.72495844  0.00463115] yaw=-146.6deg	[env.py: 1019]
+05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15112034  0.79882404  0.00463115] yaw=-144.3deg	[env.py: 1019]
+05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8625745   0.20627151  0.00463115] yaw=178.2deg	[env.py: 1019]
+05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:20:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.2ms, total=219.2ms	[env.py: 1075]
+05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.111, 0.725, 0.005)	[env.py: 1079]
+05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.6 deg	[env.py: 1082]
+05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.755m	[env.py: 1086]
+05/09 00:20:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:20:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:20:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:20:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:20:34 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 00:20:34 INFO: [Worker 0] Worker 0 house 1 episode 7/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:20:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:20:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:20:34 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:20:34 INFO: [Worker 0] Collision-checked 388 grasps in 0.154s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:20:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.860s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:20:35 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.499[m] 100.472[deg]	[grasp_sample.py: 539]
+05/09 00:20:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:20:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:20:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:20:36 INFO: [Worker 0] Worker 0 house 1 episode 6 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:20:49 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:20:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 00:20:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:20:51 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:20:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 00:20:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:20:53 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/09 00:20:53 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.35s:
+  episode_total: mean=175.23s, total=175.23s, count=1, min=175231.6ms, max=175231.6ms
+  sensor_polling: mean=425.8ms, total=127.75s, count=300, min=393.9ms, max=645.0ms
+  physics_step: mean=19.6ms, total=5.88s, count=300, min=13.7ms, max=38.2ms
+  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3981.2ms, max=3981.2ms
+  task_sampling: mean=347.5ms, total=347.5ms, count=1, min=347.5ms, max=347.5ms
+  task_specific_sample: mean=344.3ms, total=344.3ms, count=1, min=344.3ms, max=344.3ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=427.9us, 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]
+05/09 00:20:54 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:20:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 00:20:54 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
+05/09 00:20:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:20:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:20:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:20:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:20:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:20:54 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:20:54 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:20:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:20:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006296m	[env.py: 870]
+05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:20:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83184441  0.22688005 -0.00629592] yaw=162.4deg	[env.py: 1019]
+05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01084599  0.78988933 -0.00629592] yaw=-161.8deg	[env.py: 1019]
+05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02034247  0.70093709 -0.00629592] yaw=-155.0deg	[env.py: 1019]
+05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:20:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=74.5ms, total=74.6ms	[env.py: 1075]
+05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.832, 0.227, -0.006)	[env.py: 1079]
+05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.4 deg	[env.py: 1082]
+05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
+05/09 00:20:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:20:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:20:55 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 00:20:55 INFO: [Worker 0] Worker 0 house 1 episode 7/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:20:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:20:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:20:55 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:20:55 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:20:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.494s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:20:55 INFO: [Worker 0] Feasible grasp found 348 (originally 154): w/ 0.577[m] 82.590[deg]	[grasp_sample.py: 539]
+05/09 00:20:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:20:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:20:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:21:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:21:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:21:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.23s (batch: 4.02s, save: 10.21s)	[pipeline.py: 300]
+05/09 00:21:06 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.45s:
+  episode_total: mean=185.50s, total=185.50s, count=1, min=185495.8ms, max=185495.8ms
+  sensor_polling: mean=427.4ms, total=128.22s, count=300, min=390.3ms, max=656.0ms
+  save_trajectories: mean=10.21s, total=10.21s, count=1, min=10212.6ms, max=10212.6ms
+  physics_step: mean=19.6ms, total=5.87s, count=300, min=13.4ms, max=37.7ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4015.1ms, max=4015.1ms
+  task_sampling: mean=454.0ms, total=454.0ms, count=1, min=454.0ms, max=454.0ms
+  task_specific_sample: mean=450.6ms, total=450.6ms, count=1, min=450.6ms, max=450.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=381.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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]
+05/09 00:21:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:21:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:21:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:21:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:21:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:21:08 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:21:08 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:21:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:21:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004986m	[env.py: 870]
+05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:21:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16989135  1.01487069 -0.00498593] yaw=-145.5deg	[env.py: 1019]
+05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.27615796  1.04801479 -0.00498593] yaw=-120.3deg	[env.py: 1019]
+05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.16343619  0.13175341 -0.00498593] yaw=164.5deg	[env.py: 1019]
+05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:21:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=471.0ms, total=471.0ms	[env.py: 1075]
+05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.170, 1.015, -0.005)	[env.py: 1079]
+05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.5 deg	[env.py: 1082]
+05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m	[env.py: 1086]
+05/09 00:21:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:21:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:21:09 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 00:21:09 INFO: [Worker 0] Worker 0 house 1 episode 7/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:21:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:21:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:21:09 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:21:09 INFO: [Worker 0] Collision-checked 388 grasps in 0.086s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:21:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:21:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:21:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.01s (batch: 3.73s, save: 11.28s)	[pipeline.py: 300]
+05/09 00:21:10 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.45s:
+  episode_total: mean=164.95s, total=164.95s, count=1, min=164952.1ms, max=164952.1ms
+  sensor_polling: mean=426.0ms, total=121.40s, count=285, min=388.0ms, max=686.2ms
+  save_trajectories: mean=11.28s, total=11.28s, count=1, min=11277.3ms, max=11277.3ms
+  physics_step: mean=20.9ms, total=5.96s, count=285, min=13.6ms, max=56.4ms
+  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3729.6ms, max=3729.6ms
+  task_sampling: mean=449.4ms, total=449.4ms, count=1, min=449.4ms, max=449.4ms
+  task_specific_sample: mean=446.0ms, total=446.0ms, count=1, min=446.0ms, max=446.0ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=386.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:21:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.408s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:21:11 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.534[m] 94.071[deg]	[grasp_sample.py: 539]
+05/09 00:21:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:21:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:21:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:21:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:21:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:21:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:21:11 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:21:11 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:21:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:21:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025541m	[env.py: 870]
+05/09 00:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:21:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87682321  0.68751038  0.02554065] yaw=-158.5deg	[env.py: 1019]
+05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89295268  0.22436486  0.02554065] yaw=171.0deg	[env.py: 1019]
+05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.15646447  0.70725317  0.02554065] yaw=-167.6deg	[env.py: 1019]
+05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:21:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.8ms, total=133.9ms	[env.py: 1075]
+05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.688, 0.026)	[env.py: 1079]
+05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.5 deg	[env.py: 1082]
+05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/09 00:21:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:21:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:21:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:21:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:21:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:21:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:21:12 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 00:21:12 INFO: [Worker 0] Worker 0 house 1 episode 7/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:21:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:21:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:21:12 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:21:12 INFO: [Worker 0] Collision-checked 388 grasps in 0.078s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:21:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.482s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:21:14 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.622[m] 98.192[deg]	[grasp_sample.py: 539]
+05/09 00:21:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:21:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:21:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:21:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:21:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:21:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:21:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:22:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:22:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:22:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:22:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:22:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:22:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:22:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:22:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:23:01 INFO: [Worker 0] Worker 0 house 1 episode 7 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:23:13 INFO: [Worker 0] Object is not in grasp! 0.00131 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/09 00:23:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 00:23:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:23:13 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:23:13 INFO: [Worker 0] Collision-checked 388 grasps in 0.065s, found 344 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:23:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.460s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:23:13 INFO: [Worker 0] Feasible grasp found 364 (originally 170): w/ 0.075[m] 4.955[deg]	[grasp_sample.py: 539]
+05/09 00:23:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:23:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:23:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:23:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:23:22 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:23:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 00:23:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:23:23 INFO: [Worker 0] Worker 0 house 1 episode 7 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:23:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:23:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:23:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:23:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:23:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:23:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:23:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 00:23:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 00:23:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:23:34 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:23:34 INFO: [Worker 0] Collision-checked 388 grasps in 0.120s, found 322 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:23:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:23:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:23:36 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.83s (batch: 3.98s, save: 9.85s)	[pipeline.py: 300]
+05/09 00:23:36 INFO: [Worker 0] Worker 0 house 1 episode 7 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:23:37 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.51s:
+  episode_total: mean=183.60s, total=183.60s, count=1, min=183600.7ms, max=183600.7ms
+  sensor_polling: mean=454.2ms, total=136.25s, count=300, min=373.8ms, max=875.8ms
+  save_trajectories: mean=9.85s, total=9.85s, count=1, min=9851.6ms, max=9851.6ms
+  physics_step: mean=21.7ms, total=6.52s, count=300, min=16.1ms, max=94.8ms
+  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3976.9ms, max=3976.9ms
+  task_sampling: mean=507.7ms, total=507.7ms, count=1, min=507.7ms, max=507.7ms
+  task_specific_sample: mean=503.2ms, total=503.2ms, count=1, min=503.2ms, max=503.2ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=579.1us, 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]
+05/09 00:23:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.209s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:23:37 INFO: [Worker 0] Feasible grasp found 124 (originally 124): w/ 0.024[m] 0.543[deg]	[grasp_sample.py: 539]
+05/09 00:23:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:23:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:23:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:23:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:23:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:23:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:23:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:23:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:23:38 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:23:38 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:23:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:23:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006774m	[env.py: 870]
+05/09 00:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:23:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05676538  0.28618979 -0.00677382] yaw=159.3deg	[env.py: 1019]
+05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05574801  0.53570093 -0.00677382] yaw=-177.1deg	[env.py: 1019]
+05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11667558  1.06627515 -0.00677382] yaw=-147.2deg	[env.py: 1019]
+05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:23:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.6ms, total=181.7ms	[env.py: 1075]
+05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.057, 0.286, -0.007)	[env.py: 1079]
+05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.3 deg	[env.py: 1082]
+05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m	[env.py: 1086]
+05/09 00:23:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:23:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:23:39 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 00:23:39 INFO: [Worker 0] Worker 0 house 1 episode 8/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:23:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:23:39 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]
+05/09 00:23:39 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:23:39 INFO: [Worker 0] Collision-checked 388 grasps in 0.131s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:23:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.749s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:23:40 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.410[m] 86.701[deg]	[grasp_sample.py: 539]
+05/09 00:23:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:23:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:23:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:23:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:23:47 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:23:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 00:23:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:23:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 00:23:49 INFO: [Worker 0] Worker 0 house 1 episode 7 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:23:58 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:23:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 00:23:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:23:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:23:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:23:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.21s (batch: 3.99s, save: 8.22s)	[pipeline.py: 300]
+05/09 00:24:00 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.36s:
+  episode_total: mean=185.56s, total=185.56s, count=1, min=185556.1ms, max=185556.1ms
+  sensor_polling: mean=453.6ms, total=136.08s, count=300, min=389.8ms, max=781.0ms
+  save_trajectories: mean=8.22s, total=8.22s, count=1, min=8219.0ms, max=8219.0ms
+  physics_step: mean=22.9ms, total=6.87s, count=300, min=13.5ms, max=70.0ms
+  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3990.3ms, max=3990.3ms
+  task_sampling: mean=362.3ms, total=362.3ms, count=1, min=362.3ms, max=362.3ms
+  task_specific_sample: mean=358.6ms, total=358.6ms, count=1, min=358.6ms, max=358.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=373.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:24:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:24:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:24:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:24:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:24:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:24:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:24:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:24:01 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:24:01 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:24:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:24:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037472m	[env.py: 870]
+05/09 00:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:24:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9751315   0.77379116  0.03747163] yaw=-155.1deg	[env.py: 1019]
+05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.23830224  0.99664008  0.03747163] yaw=-125.6deg	[env.py: 1019]
+05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03183223  1.02261311  0.03747163] yaw=-135.7deg	[env.py: 1019]
+05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:24:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.6ms, total=108.6ms	[env.py: 1075]
+05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.975, 0.774, 0.037)	[env.py: 1079]
+05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.1 deg	[env.py: 1082]
+05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
+05/09 00:24:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:24:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:24:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:24:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:24:02 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 00:24:02 INFO: [Worker 0] Worker 0 house 1 episode 8/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:24:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:24:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:24:02 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:24:02 INFO: [Worker 0] Collision-checked 388 grasps in 0.076s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:24:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.483s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:24:03 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.508[m] 88.271[deg]	[grasp_sample.py: 539]
+05/09 00:24:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:24:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:24:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:24:10 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:24:10 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 00:24:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 00:24:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:24:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:24:12 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.63s (batch: 3.86s, save: 9.77s)	[pipeline.py: 300]
+05/09 00:24:13 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.39s:
+  episode_total: mean=181.13s, total=181.13s, count=1, min=181125.7ms, max=181125.7ms
+  sensor_polling: mean=443.9ms, total=133.16s, count=300, min=362.8ms, max=740.1ms
+  save_trajectories: mean=9.77s, total=9.77s, count=1, min=9772.3ms, max=9772.3ms
+  physics_step: mean=21.6ms, total=6.49s, count=300, min=13.9ms, max=48.6ms
+  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3858.9ms, max=3858.9ms
+  task_sampling: mean=394.8ms, total=394.8ms, count=1, min=394.8ms, max=394.8ms
+  task_specific_sample: mean=391.0ms, total=391.0ms, count=1, min=391.0ms, max=391.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=520.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:24:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:24:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:24:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:24:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:24:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:24:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:24:15 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:24:15 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:24:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:24:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025897m	[env.py: 870]
+05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:24:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91734801  0.17307799  0.02589695] yaw=170.8deg	[env.py: 1019]
+05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04594718  0.17082551  0.02589695] yaw=151.6deg	[env.py: 1019]
+05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89099927  0.13852369  0.02589695] yaw=171.6deg	[env.py: 1019]
+05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:24:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=405.2ms, total=405.3ms	[env.py: 1075]
+05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.917, 0.173, 0.026)	[env.py: 1079]
+05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.8 deg	[env.py: 1082]
+05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
+05/09 00:24:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:24:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:24:15 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 00:24:15 INFO: [Worker 0] Worker 0 house 1 episode 8/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:24:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:24:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:24:15 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:24:15 INFO: [Worker 0] Collision-checked 388 grasps in 0.094s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:24:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.946s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:24:16 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.503[m] 79.473[deg]	[grasp_sample.py: 539]
+05/09 00:24:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:24:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:24:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:24:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:24:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:24:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:24:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.03s (batch: 5.33s, save: 8.70s)	[pipeline.py: 300]
+05/09 00:24:25 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.75s:
+  episode_total: mean=197.27s, total=197.27s, count=1, min=197271.7ms, max=197271.7ms
+  sensor_polling: mean=448.7ms, total=134.62s, count=300, min=393.6ms, max=692.3ms
+  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8703.9ms, max=8703.9ms
+  physics_step: mean=22.0ms, total=6.59s, count=300, min=14.1ms, max=52.0ms
+  save_batch_prep: mean=5.33s, total=5.33s, count=1, min=5326.0ms, max=5326.0ms
+  task_sampling: mean=749.7ms, total=749.7ms, count=1, min=749.7ms, max=749.7ms
+  task_specific_sample: mean=745.6ms, total=745.6ms, count=1, min=745.6ms, max=745.6ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=435.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:24:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:24:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:24:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:24:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:24:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:24:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:24:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:24:27 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:24:27 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:24:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:24:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018701m	[env.py: 870]
+05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:24:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01972113  0.11109031 -0.01870115] yaw=159.0deg	[env.py: 1019]
+05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92270122  0.45718108 -0.01870115] yaw=-176.8deg	[env.py: 1019]
+05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.18747833  0.9813871  -0.01870115] yaw=-129.2deg	[env.py: 1019]
+05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:24:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.8ms, total=130.9ms	[env.py: 1075]
+05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.111, -0.019)	[env.py: 1079]
+05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.0 deg	[env.py: 1082]
+05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
+05/09 00:24:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:24:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:24:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:24:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:24:27 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 00:24:27 INFO: [Worker 0] Worker 0 house 1 episode 8/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:24:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:24:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:24:27 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:24:27 INFO: [Worker 0] Collision-checked 388 grasps in 0.066s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:24:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.457s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:24:28 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.484[m] 85.771[deg]	[grasp_sample.py: 539]
+05/09 00:24:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:24:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:24:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:24:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:24:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:24:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:25:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:25:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:25:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:25:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:25:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:25:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:25:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:25:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:25:57 INFO: [Worker 0] Worker 0 house 1 episode 8 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:26:17 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:26:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 00:26:17 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/09 00:26:22 INFO: [Worker 0] Worker 0 house 1 episode 8 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:26:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:26:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:26:28 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.99s (batch: 3.78s, save: 7.21s)	[pipeline.py: 300]
+05/09 00:26:29 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.46s:
+  episode_total: mean=170.46s, total=170.46s, count=1, min=170463.0ms, max=170463.0ms
+  sensor_polling: mean=449.2ms, total=124.88s, count=278, min=374.2ms, max=857.0ms
+  save_trajectories: mean=7.21s, total=7.21s, count=1, min=7209.7ms, max=7209.7ms
+  physics_step: mean=21.2ms, total=5.88s, count=278, min=16.9ms, max=49.0ms
+  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3776.5ms, max=3776.5ms
+  task_sampling: mean=458.2ms, total=458.2ms, count=1, min=458.2ms, max=458.2ms
+  task_specific_sample: mean=454.7ms, total=454.7ms, count=1, min=454.7ms, max=454.7ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=437.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:26:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:26:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:26:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:26:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:26:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:26:30 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:26:30 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:26:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:26:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017225m	[env.py: 870]
+05/09 00:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:26:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10544357  1.0726152  -0.01722464] yaw=-141.2deg	[env.py: 1019]
+05/09 00:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09457921  1.12284147 -0.01722464] yaw=-141.5deg	[env.py: 1019]
+05/09 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99567429  0.82844147 -0.01722464] yaw=-146.0deg	[env.py: 1019]
+05/09 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:26:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.3ms, total=121.4ms	[env.py: 1075]
+05/09 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.105, 1.073, -0.017)	[env.py: 1079]
+05/09 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.2 deg	[env.py: 1082]
+05/09 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m	[env.py: 1086]
+05/09 00:26:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:26:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:26:31 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 00:26:31 INFO: [Worker 0] Worker 0 house 1 episode 9/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:26:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:26:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:26:31 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:26:31 INFO: [Worker 0] Collision-checked 388 grasps in 0.063s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:26:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.416s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:26:32 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.535[m] 87.466[deg]	[grasp_sample.py: 539]
+05/09 00:26:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:26:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:26:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:26:37 INFO: [Worker 0] Worker 0 house 1 episode 8 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:26:45 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:26:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 00:26:45 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
+05/09 00:26:47 INFO: [Worker 0] Worker 0 house 1 episode 8 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 00:26:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:26:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:26:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.27s (batch: 4.95s, save: 8.32s)	[pipeline.py: 300]
+05/09 00:26:59 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.43s:
+  episode_total: mean=177.23s, total=177.23s, count=1, min=177230.6ms, max=177230.6ms
+  sensor_polling: mean=440.4ms, total=130.37s, count=296, min=389.4ms, max=810.5ms
+  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8316.3ms, max=8316.3ms
+  physics_step: mean=20.9ms, total=6.18s, count=296, min=13.9ms, max=49.2ms
+  save_batch_prep: mean=4.95s, total=4.95s, count=1, min=4949.3ms, max=4949.3ms
+  task_sampling: mean=429.7ms, total=429.7ms, count=1, min=429.7ms, max=429.7ms
+  task_specific_sample: mean=426.1ms, total=426.1ms, count=1, min=426.1ms, max=426.1ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=375.8us, 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]
+05/09 00:27:00 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:27:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 00:27:00 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/09 00:27:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:27:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:27:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:27:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:27:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:27:00 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:27:00 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:27:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:27:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045902m	[env.py: 870]
+05/09 00:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:27:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02220124  0.06536444  0.04590167] yaw=158.2deg	[env.py: 1019]
+05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:27:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=145.3ms, total=145.3ms	[env.py: 1075]
+05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.022, 0.065, 0.046)	[env.py: 1079]
+05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.2 deg	[env.py: 1082]
+05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
+05/09 00:27:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:27:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:27:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 00:27:01 INFO: [Worker 0] Worker 0 house 1 episode 9/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:27:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:27:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:27:01 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:27:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.086s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:27:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.501s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:27:02 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.490[m] 87.399[deg]	[grasp_sample.py: 539]
+05/09 00:27:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:27:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:27:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:27:07 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 00:27:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 00:27:07 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/09 00:27:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:27:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:27:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.22s (batch: 3.77s, save: 8.44s)	[pipeline.py: 300]
+05/09 00:27:13 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.74s:
+  episode_total: mean=178.94s, total=178.94s, count=1, min=178943.1ms, max=178943.1ms
+  sensor_polling: mean=444.6ms, total=130.73s, count=294, min=381.1ms, max=751.5ms
+  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8441.9ms, max=8441.9ms
+  physics_step: mean=20.9ms, total=6.13s, count=294, min=16.9ms, max=67.6ms
+  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3775.0ms, max=3775.0ms
+  task_sampling: mean=742.9ms, total=742.9ms, count=1, min=742.9ms, max=742.9ms
+  task_specific_sample: mean=738.8ms, total=738.8ms, count=1, min=738.8ms, max=738.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=472.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:27:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:27:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:27:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:27:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:27:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:27:15 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:27:15 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:27:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:27:15 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]
+05/09 00:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012707m	[env.py: 870]
+05/09 00:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:27:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15816113  0.96389399  0.01270668] yaw=-142.6deg	[env.py: 1019]
+05/09 00:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00744168  0.04627874  0.01270668] yaw=159.8deg	[env.py: 1019]
+05/09 00:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.08992173  0.5473344   0.01270668] yaw=-175.6deg	[env.py: 1019]
+05/09 00:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:27:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=523.3ms, total=523.3ms	[env.py: 1075]
+05/09 00:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.158, 0.964, 0.013)	[env.py: 1079]
+05/09 00:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.6 deg	[env.py: 1082]
+05/09 00:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
+05/09 00:27:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:27:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:27:16 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 00:27:16 INFO: [Worker 0] Worker 0 house 1 episode 9/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:27:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:27:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:27:16 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:27:16 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:27:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.035s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:27:17 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.445[m] 89.319[deg]	[grasp_sample.py: 539]
+05/09 00:27:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:27:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:27:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:27:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 00:27:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 00:27:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.13s (batch: 3.88s, save: 11.25s)	[pipeline.py: 300]
+05/09 00:27:23 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.38s:
+  episode_total: mean=176.37s, total=176.37s, count=1, min=176371.8ms, max=176371.8ms
+  sensor_polling: mean=446.3ms, total=130.33s, count=292, min=379.5ms, max=737.5ms
+  save_trajectories: mean=11.25s, total=11.25s, count=1, min=11253.3ms, max=11253.3ms
+  physics_step: mean=20.7ms, total=6.05s, count=292, min=13.6ms, max=39.7ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3878.6ms, max=3878.6ms
+  task_sampling: mean=379.3ms, total=379.3ms, count=1, min=379.3ms, max=379.3ms
+  task_specific_sample: mean=376.3ms, total=376.3ms, count=1, min=376.3ms, max=376.3ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=366.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 00:27:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:27:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 00:27:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 00:27:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 00:27:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:27:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:27:25 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 00:27:25 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 00:27:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 00:27:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022207m	[env.py: 870]
+05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 00:27:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05585061  0.58398927  0.02220722] yaw=-161.9deg	[env.py: 1019]
+05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13604058  0.75032507  0.02220722] yaw=-158.2deg	[env.py: 1019]
+05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07976302  0.76976968  0.02220722] yaw=-161.6deg	[env.py: 1019]
+05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 00:27:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=462.9ms, total=462.9ms	[env.py: 1075]
+05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.056, 0.584, 0.022)	[env.py: 1079]
+05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.9 deg	[env.py: 1082]
+05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.765m	[env.py: 1086]
+05/09 00:27:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 00:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 00:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 00:27:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 00:27:25 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 00:27:25 INFO: [Worker 0] Worker 0 house 1 episode 9/60 collected=0/10	[pipeline.py: 1044]
+05/09 00:27:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/09 00:27:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 00:27:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 00:27:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 00:27:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.478s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 00:27:26 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.422[m] 93.949[deg]	[grasp_sample.py: 539]
+05/09 00:27:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 00:27:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 00:27:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:27:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 00:27:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 00:27:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
diff --git a/fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5 b/fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5
index da9884bb463dd584494741144b2aa30e1e85cc60..7b7c715747c48238f2048a2bada9221a8b84c0f6 100644
--- a/fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5
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index a61195babdac09d3a416d0d2fc6b6ed78ee291bf..dd0ce7ad73a375bee80e348affe63b111a152e65 100644
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