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diff --git a/fridge1_minimal_wall/running_log.log b/fridge1_minimal_wall/running_log.log
index e82ac8cff013339fb5ba6b6ecf39246533663402..da19d239a7d527bcbdb2d3a52cf29539df1c6a37 100644
--- a/fridge1_minimal_wall/running_log.log
+++ b/fridge1_minimal_wall/running_log.log
@@ -4934,3 +4934,4050 @@
 	[open_close_planner_policy.py: 225]
 05/09 20:34:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
 05/09 20:34:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:35:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:35:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:35:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:35:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:35:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:35:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:35:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:35:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:35:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 20:35:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 20:35:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:35:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:35:17 INFO: [Worker 0] Collision-checked 388 grasps in 0.076s, found 278 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:35:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.395s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:35:19 INFO: [Worker 0] Feasible grasp found 160 (originally 160): w/ 0.046[m] 14.416[deg]	[grasp_sample.py: 539]
+05/09 20:35:20 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/09 20:35:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:35:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:35:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:35:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:35:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:35:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:35:21 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:35:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:35:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033544m	[env.py: 870]
+05/09 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:35:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92527392  0.25097921  0.03354432] yaw=165.3deg	[env.py: 1019]
+05/09 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.16679985  0.72391214  0.03354432] yaw=-143.6deg	[env.py: 1019]
+05/09 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97894709  0.70986824  0.03354432] yaw=-154.5deg	[env.py: 1019]
+05/09 20:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:35:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=262.8ms, total=262.8ms	[env.py: 1075]
+05/09 20:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.251, 0.034)	[env.py: 1079]
+05/09 20:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.3 deg	[env.py: 1082]
+05/09 20:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/09 20:35:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:35:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:35:22 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 20:35:22 INFO: [Worker 0] Worker 0 house 1 episode 14/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:35:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:35:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:35:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:35:22 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:35:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.676s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:35:23 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.536[m] 89.683[deg]	[grasp_sample.py: 539]
+05/09 20:35:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:35:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:35:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:35:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:35:42 INFO: [Worker 0] Worker 0 house 1 episode 13 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:35:44 INFO: [Worker 0] Worker 0 house 1 episode 13 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:35:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:35:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:36:02 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:36:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 20:36:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:36:03 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:36:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 20:36:03 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
+05/09 20:36:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:36:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:36:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:36:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.74s (batch: 4.19s, save: 7.55s)	[pipeline.py: 300]
+05/09 20:36:15 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.68s:
+  episode_total: mean=164.63s, total=164.63s, count=1, min=164627.6ms, max=164627.6ms
+  sensor_polling: mean=460.3ms, total=122.91s, count=267, min=396.9ms, max=750.3ms
+  save_trajectories: mean=7.55s, total=7.55s, count=1, min=7550.4ms, max=7550.4ms
+  physics_step: mean=23.4ms, total=6.24s, count=267, min=17.0ms, max=67.3ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4194.0ms, max=4194.0ms
+  task_sampling: mean=679.5ms, total=679.5ms, count=1, min=679.5ms, max=679.5ms
+  task_specific_sample: mean=675.7ms, total=675.7ms, count=1, min=675.7ms, max=675.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=385.6us, 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 20:36:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:36:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:36:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.94s (batch: 4.63s, save: 8.31s)	[pipeline.py: 300]
+05/09 20:36:16 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.44s:
+  episode_total: mean=183.72s, total=183.72s, count=1, min=183721.1ms, max=183721.1ms
+  sensor_polling: mean=456.6ms, total=136.99s, count=300, min=395.9ms, max=628.2ms
+  save_trajectories: mean=8.31s, total=8.31s, count=1, min=8308.7ms, max=8308.7ms
+  physics_step: mean=22.1ms, total=6.64s, count=300, min=16.8ms, max=62.7ms
+  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4630.8ms, max=4630.8ms
+  task_sampling: mean=436.2ms, total=436.2ms, count=1, min=436.2ms, max=436.2ms
+  task_specific_sample: mean=431.8ms, total=431.8ms, count=1, min=431.8ms, max=431.8ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=508.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:36:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:36:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:36:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:36:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:36:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:36:16 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:36:16 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:36:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:36:16 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 20:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038941m	[env.py: 870]
+05/09 20:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:36:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09330277  0.13490846 -0.03894144] yaw=156.7deg	[env.py: 1019]
+05/09 20:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07400879  0.24980396 -0.03894144] yaw=162.9deg	[env.py: 1019]
+05/09 20:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03379052  0.56142555 -0.03894144] yaw=-177.7deg	[env.py: 1019]
+05/09 20:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:36:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.2ms, total=108.3ms	[env.py: 1075]
+05/09 20:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.093, 0.135, -0.039)	[env.py: 1079]
+05/09 20:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.7 deg	[env.py: 1082]
+05/09 20:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.768m	[env.py: 1086]
+05/09 20:36:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:36:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:36:17 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 20:36:17 INFO: [Worker 0] Worker 0 house 1 episode 14/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:36:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:36:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:36:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:36:17 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:36:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.430s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:36:17 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.399[m] 82.060[deg]	[grasp_sample.py: 539]
+05/09 20:36:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:36:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:36:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:36:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:36:18 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:36:18 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:36:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:36:18 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 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006006m	[env.py: 870]
+05/09 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:36:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85924891  0.29747545 -0.0060062 ] yaw=168.9deg	[env.py: 1019]
+05/09 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.20278882  1.12029907 -0.0060062 ] yaw=-137.0deg	[env.py: 1019]
+05/09 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02105989  0.66422239 -0.0060062 ] yaw=-169.4deg	[env.py: 1019]
+05/09 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:36:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.3ms, total=157.4ms	[env.py: 1075]
+05/09 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.859, 0.297, -0.006)	[env.py: 1079]
+05/09 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.9 deg	[env.py: 1082]
+05/09 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
+05/09 20:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:36:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:36:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:36:18 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 20:36:18 INFO: [Worker 0] Worker 0 house 1 episode 14/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:36:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:36:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:36:18 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:36:18 INFO: [Worker 0] Collision-checked 388 grasps in 0.063s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:36:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:36:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.448s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:36:20 INFO: [Worker 0] Feasible grasp found 363 (originally 169): w/ 0.597[m] 91.021[deg]	[grasp_sample.py: 539]
+05/09 20:36:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:36:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:36:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:36:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:36:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:37:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:37:11 INFO: [Worker 0] Worker 0 house 1 episode 14 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:37:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:37:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:37:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:37:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:37:33 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:37:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 20:37:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:37:47 INFO: [Worker 0] Worker 0 house 1 episode 14 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:37:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:37:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:37:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.50s (batch: 4.50s, save: 10.00s)	[pipeline.py: 300]
+05/09 20:37:48 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.46s:
+  episode_total: mean=184.81s, total=184.81s, count=1, min=184814.7ms, max=184814.7ms
+  sensor_polling: mean=449.7ms, total=134.92s, count=300, min=372.6ms, max=726.9ms
+  save_trajectories: mean=10.00s, total=10.00s, count=1, min=9999.2ms, max=9999.2ms
+  physics_step: mean=23.6ms, total=7.07s, count=300, min=16.2ms, max=64.7ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4498.9ms, max=4498.9ms
+  task_sampling: mean=458.5ms, total=458.5ms, count=1, min=458.5ms, max=458.5ms
+  task_specific_sample: mean=454.5ms, total=454.5ms, count=1, min=454.5ms, max=454.5ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=444.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:37:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:37:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:37:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:37:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:37:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:37:50 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:37:50 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:37:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:37:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036314m	[env.py: 870]
+05/09 20:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:37:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96489349  0.69483973  0.03631385] yaw=-166.1deg	[env.py: 1019]
+05/09 20:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.13902875  0.94417958  0.03631385] yaw=-152.0deg	[env.py: 1019]
+05/09 20:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97493244  0.90225342  0.03631385] yaw=-143.1deg	[env.py: 1019]
+05/09 20:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:37:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.7ms, total=105.8ms	[env.py: 1075]
+05/09 20:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.695, 0.036)	[env.py: 1079]
+05/09 20:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.1 deg	[env.py: 1082]
+05/09 20:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/09 20:37:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:37:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:37:50 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 20:37:50 INFO: [Worker 0] Worker 0 house 1 episode 15/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:37:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:37:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:37:50 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:37:50 INFO: [Worker 0] Collision-checked 388 grasps in 0.076s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:37:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.459s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:37:51 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.534[m] 100.140[deg]	[grasp_sample.py: 539]
+05/09 20:37:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:37:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:37:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:38:11 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:38:11 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 20:38:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:38:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:38:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:38:23 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.97s (batch: 3.85s, save: 8.12s)	[pipeline.py: 300]
+05/09 20:38:24 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.00s:
+  episode_total: mean=161.04s, total=322.07s, count=2, min=139554.8ms, max=182517.3ms
+  sensor_polling: mean=451.8ms, total=249.39s, count=552, min=382.5ms, max=692.4ms
+  physics_step: mean=21.5ms, total=11.84s, count=552, min=13.7ms, max=62.8ms
+  save_trajectories: mean=8.12s, total=8.12s, count=1, min=8115.8ms, max=8115.8ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3851.5ms, max=3851.5ms
+  task_sampling: mean=498.0ms, total=996.1ms, count=2, min=489.5ms, max=506.6ms
+  task_specific_sample: mean=494.6ms, total=989.2ms, count=2, min=486.6ms, max=502.6ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=413.3us, total=0.8ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.4us, 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 20:38:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:38:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:38:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:38:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:38:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:38:25 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:38:25 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:38:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:38:25 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 20:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.037630m	[env.py: 870]
+05/09 20:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:38:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.13605245  0.99805346 -0.03763017] yaw=-147.6deg	[env.py: 1019]
+05/09 20:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:38:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=154.1ms, total=154.1ms	[env.py: 1075]
+05/09 20:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.136, 0.998, -0.038)	[env.py: 1079]
+05/09 20:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.6 deg	[env.py: 1082]
+05/09 20:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
+05/09 20:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:38:26 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 20:38:26 INFO: [Worker 0] Worker 0 house 1 episode 15/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:38:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:38:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:38:26 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:38:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:38:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.554s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:38:26 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.533[m] 78.840[deg]	[grasp_sample.py: 539]
+05/09 20:38:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:38:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:38:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:38:34 INFO: [Worker 0] Worker 0 house 1 episode 14 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:38:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:38:45 INFO: [Worker 0] Worker 0 house 1 episode 14 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:38:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:38:51 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:38:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 20:38:51 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
+05/09 20:38:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:39:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:39:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:39:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.93s (batch: 3.65s, save: 8.29s)	[pipeline.py: 300]
+05/09 20:39:03 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.36s:
+  episode_total: mean=166.93s, total=166.93s, count=1, min=166934.2ms, max=166934.2ms
+  sensor_polling: mean=461.0ms, total=126.77s, count=275, min=393.4ms, max=680.4ms
+  save_trajectories: mean=8.29s, total=8.29s, count=1, min=8286.3ms, max=8286.3ms
+  physics_step: mean=22.8ms, total=6.27s, count=275, min=17.1ms, max=79.3ms
+  save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3648.1ms, max=3648.1ms
+  task_sampling: mean=363.3ms, total=363.3ms, count=1, min=363.3ms, max=363.3ms
+  task_specific_sample: mean=359.8ms, total=359.8ms, count=1, min=359.8ms, max=359.8ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=377.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:39:05 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:39:05 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 20:39:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:39:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:39:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:39:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:39:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:39:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:39:05 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:39:05 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 20:39:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:39:05 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 20:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004942m	[env.py: 870]
+05/09 20:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:39:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06927734  0.7273362   0.00494157] yaw=-161.9deg	[env.py: 1019]
+05/09 20:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02143008  0.22482296  0.00494157] yaw=165.2deg	[env.py: 1019]
+05/09 20:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94364839  0.28433026  0.00494157] yaw=181.3deg	[env.py: 1019]
+05/09 20:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:39:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.5ms, total=174.5ms	[env.py: 1075]
+05/09 20:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.069, 0.727, 0.005)	[env.py: 1079]
+05/09 20:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.9 deg	[env.py: 1082]
+05/09 20:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.795m	[env.py: 1086]
+05/09 20:39:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:39:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:39:05 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 20:39:05 INFO: [Worker 0] Worker 0 house 1 episode 15/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:39:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:39:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:39:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:39:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.076s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:39:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.740s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:39:06 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.445[m] 88.439[deg]	[grasp_sample.py: 539]
+05/09 20:39:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:39:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:39:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:39:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:39:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:39:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:39:17 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.33s (batch: 4.20s, save: 8.13s)	[pipeline.py: 300]
+05/09 20:39:18 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.40s:
+  episode_total: mean=180.37s, total=180.37s, count=1, min=180369.2ms, max=180369.2ms
+  sensor_polling: mean=448.5ms, total=134.55s, count=300, min=392.0ms, max=674.4ms
+  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8131.8ms, max=8131.8ms
+  physics_step: mean=23.9ms, total=7.16s, count=300, min=14.8ms, max=61.5ms
+  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4199.8ms, max=4199.8ms
+  task_sampling: mean=400.9ms, total=400.9ms, count=1, min=400.9ms, max=400.9ms
+  task_specific_sample: mean=397.4ms, total=397.4ms, count=1, min=397.4ms, max=397.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=366.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:39:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:39:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:39:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:39:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:39:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:39:19 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:39:19 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:39:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:39:19 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 20:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012908m	[env.py: 870]
+05/09 20:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:39:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87775155  0.08713597  0.01290773] yaw=156.8deg	[env.py: 1019]
+05/09 20:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87188298  0.0754926   0.01290773] yaw=165.7deg	[env.py: 1019]
+05/09 20:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94222698  0.40449573  0.01290773] yaw=178.9deg	[env.py: 1019]
+05/09 20:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:39:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.5ms, total=105.5ms	[env.py: 1075]
+05/09 20:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.878, 0.087, 0.013)	[env.py: 1079]
+05/09 20:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.8 deg	[env.py: 1082]
+05/09 20:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
+05/09 20:39:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:39:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:39:20 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/09 20:39:20 INFO: [Worker 0] Worker 0 house 1 episode 15/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:39:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:39:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:39:20 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:39:20 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:39:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.799s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:39:21 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.652[m] 96.161[deg]	[grasp_sample.py: 539]
+05/09 20:39:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:39:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:39:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:39:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:39:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:39:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:40:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:40:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:40:15 INFO: [Worker 0] Worker 0 house 1 episode 15 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:40:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:40:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:40:38 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:40:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 20:40:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:40:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:40:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:40:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:40:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:40:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:40:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:40:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:40:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:40:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:40:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:40:50 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.94s (batch: 4.25s, save: 8.69s)	[pipeline.py: 300]
+05/09 20:40:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:40:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 20:40:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 20:40:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:40:51 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:40:51 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 324 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:40:51 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.38s:
+  episode_total: mean=181.52s, total=181.52s, count=1, min=181518.2ms, max=181518.2ms
+  sensor_polling: mean=445.9ms, total=133.76s, count=300, min=391.3ms, max=691.1ms
+  save_trajectories: mean=8.69s, total=8.69s, count=1, min=8689.6ms, max=8689.6ms
+  physics_step: mean=22.7ms, total=6.80s, count=300, min=17.7ms, max=73.5ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4246.1ms, max=4246.1ms
+  task_sampling: mean=383.7ms, total=383.7ms, count=1, min=383.7ms, max=383.7ms
+  task_specific_sample: mean=380.1ms, total=380.1ms, count=1, min=380.1ms, max=380.1ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=390.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:40:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.531s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:40:52 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.082[m] 2.278[deg]	[grasp_sample.py: 539]
+05/09 20:40:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:40:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:40:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:40:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:40:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:40:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:40:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:40:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:40:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:40:53 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:40:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:40:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035664m	[env.py: 870]
+05/09 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:40:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.16912666  1.00216011  0.03566426] yaw=-136.8deg	[env.py: 1019]
+05/09 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:40:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=161.9ms, total=161.9ms	[env.py: 1075]
+05/09 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.169, 1.002, 0.036)	[env.py: 1079]
+05/09 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.8 deg	[env.py: 1082]
+05/09 20:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/09 20:40:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:40:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:40:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:40:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:40:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:40:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:40:53 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 20:40:53 INFO: [Worker 0] Worker 0 house 1 episode 16/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:40:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:40:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:40:53 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:40:53 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:40:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.455s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:40:54 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.496[m] 87.639[deg]	[grasp_sample.py: 539]
+05/09 20:40:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:40:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:40:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:41:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:41:05 INFO: [Worker 0] Worker 0 house 1 episode 15 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:41:25 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:41:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 20:41:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:41:26 INFO: [Worker 0] Worker 0 house 1 episode 15 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:41:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:41:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:41:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.89s (batch: 3.95s, save: 7.94s)	[pipeline.py: 300]
+05/09 20:41:38 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.40s:
+  episode_total: mean=192.56s, total=192.56s, count=1, min=192562.0ms, max=192562.0ms
+  sensor_polling: mean=454.1ms, total=136.22s, count=300, min=394.6ms, max=696.3ms
+  save_trajectories: mean=7.94s, total=7.94s, count=1, min=7942.4ms, max=7942.4ms
+  physics_step: mean=21.8ms, total=6.54s, count=300, min=13.6ms, max=58.6ms
+  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3949.2ms, max=3949.2ms
+  task_sampling: mean=399.7ms, total=399.7ms, count=1, min=399.7ms, max=399.7ms
+  task_specific_sample: mean=396.2ms, total=396.2ms, count=1, min=396.2ms, max=396.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=359.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:41:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:41:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:41:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:41:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:41:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:41:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:41:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:41:39 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:41:39 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 20:41:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:41:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027707m	[env.py: 870]
+05/09 20:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:41:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.16393059  0.10768026 -0.02770687] yaw=155.3deg	[env.py: 1019]
+05/09 20:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89339556  0.44827579 -0.02770687] yaw=-168.0deg	[env.py: 1019]
+05/09 20:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:41:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=145.5ms, total=145.5ms	[env.py: 1075]
+05/09 20:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.164, 0.108, -0.028)	[env.py: 1079]
+05/09 20:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.3 deg	[env.py: 1082]
+05/09 20:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.715m	[env.py: 1086]
+05/09 20:41:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:41:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:41:40 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 20:41:40 INFO: [Worker 0] Worker 0 house 1 episode 16/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:41:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:41:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:41:40 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:41:40 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:41:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:41:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.378s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:41:40 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.419[m] 90.735[deg]	[grasp_sample.py: 539]
+05/09 20:41:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:41:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:41:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:41:44 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:41:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 20:41:44 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
+05/09 20:41:47 INFO: [Worker 0] Worker 0 house 1 episode 15 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:41:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:41:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:41:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:41:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:41:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.27s (batch: 3.79s, save: 7.48s)	[pipeline.py: 300]
+05/09 20:41:56 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.43s:
+  episode_total: mean=171.05s, total=171.05s, count=1, min=171052.2ms, max=171052.2ms
+  sensor_polling: mean=457.2ms, total=130.30s, count=285, min=387.0ms, max=666.6ms
+  save_trajectories: mean=7.48s, total=7.48s, count=1, min=7484.7ms, max=7484.7ms
+  physics_step: mean=22.8ms, total=6.51s, count=285, min=17.3ms, max=46.4ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3787.4ms, max=3787.4ms
+  task_sampling: mean=426.4ms, total=426.4ms, count=1, min=426.4ms, max=426.4ms
+  task_specific_sample: mean=422.8ms, total=422.8ms, count=1, min=422.8ms, max=422.8ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=436.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:41:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:41:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:41:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:41:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:41:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:41:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:41:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:41:58 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:41:58 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 20:41:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:41:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011229m	[env.py: 870]
+05/09 20:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:41:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89219352  0.65852742  0.01122877] yaw=-161.7deg	[env.py: 1019]
+05/09 20:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03845354  0.28367222  0.01122877] yaw=161.9deg	[env.py: 1019]
+05/09 20:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:41:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=250.3ms, total=250.4ms	[env.py: 1075]
+05/09 20:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.659, 0.011)	[env.py: 1079]
+05/09 20:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.7 deg	[env.py: 1082]
+05/09 20:41:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m	[env.py: 1086]
+05/09 20:41:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:41:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:41:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:41:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:41:58 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/09 20:41:58 INFO: [Worker 0] Worker 0 house 1 episode 16/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:41:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:41:58 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 20:41:58 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:41:58 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:41:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.624s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:41:59 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.571[m] 92.994[deg]	[grasp_sample.py: 539]
+05/09 20:41:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:42:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:42:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:42:08 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:42:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 20:42:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:42:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:42:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:42:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.18s (batch: 3.91s, save: 8.27s)	[pipeline.py: 300]
+05/09 20:42:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:42:21 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.35s:
+  episode_total: mean=181.15s, total=181.15s, count=1, min=181151.5ms, max=181151.5ms
+  sensor_polling: mean=454.4ms, total=136.31s, count=300, min=388.7ms, max=671.5ms
+  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8269.7ms, max=8269.7ms
+  physics_step: mean=21.1ms, total=6.34s, count=300, min=13.6ms, max=47.7ms
+  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3911.5ms, max=3911.5ms
+  task_sampling: mean=348.5ms, total=348.5ms, count=1, min=348.5ms, max=348.5ms
+  task_specific_sample: mean=345.4ms, total=345.4ms, count=1, min=345.4ms, max=345.4ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=376.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:42:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:42:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:42:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:42:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:42:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:42:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:42:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:42:22 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:42:22 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:42:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:42:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015693m	[env.py: 870]
+05/09 20:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:42:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.18697266  0.92068163 -0.01569254] yaw=-150.3deg	[env.py: 1019]
+05/09 20:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88634376  0.5253014  -0.01569254] yaw=-177.0deg	[env.py: 1019]
+05/09 20:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04261181  0.65967579 -0.01569254] yaw=-167.7deg	[env.py: 1019]
+05/09 20:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:42:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.1ms, total=136.1ms	[env.py: 1075]
+05/09 20:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.187, 0.921, -0.016)	[env.py: 1079]
+05/09 20:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.3 deg	[env.py: 1082]
+05/09 20:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m	[env.py: 1086]
+05/09 20:42:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:42:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:42:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:42:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:42:23 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 20:42:23 INFO: [Worker 0] Worker 0 house 1 episode 16/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:42:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:42:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:42:23 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:42:23 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:42:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.442s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:42:23 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.386[m] 76.714[deg]	[grasp_sample.py: 539]
+05/09 20:42:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:42:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:42:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:42:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:42:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:42:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:43:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:43:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:43:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:43:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:43:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:43:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:43:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:43:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:43:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:43:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:43:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:43:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:43:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:43:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 20:43:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 20:43:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:43:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:43:22 INFO: [Worker 0] Collision-checked 388 grasps in 0.079s, found 322 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:43:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.889s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:43:25 INFO: [Worker 0] Feasible grasp found 46 (originally 46): w/ 0.089[m] 1.863[deg]	[grasp_sample.py: 539]
+05/09 20:43:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:43:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:43:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:43:32 INFO: [Worker 0] Worker 0 house 1 episode 16 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:43:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:43:56 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:43:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 20:43:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:44:07 INFO: [Worker 0] Worker 0 house 1 episode 16 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:44:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:44:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:44:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.27s (batch: 4.03s, save: 9.25s)	[pipeline.py: 300]
+05/09 20:44:10 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.45s:
+  episode_total: mean=197.81s, total=197.81s, count=1, min=197814.9ms, max=197814.9ms
+  sensor_polling: mean=449.8ms, total=134.93s, count=300, min=394.4ms, max=708.0ms
+  save_trajectories: mean=9.25s, total=9.25s, count=1, min=9245.1ms, max=9245.1ms
+  physics_step: mean=22.9ms, total=6.86s, count=300, min=14.1ms, max=71.5ms
+  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4027.9ms, max=4027.9ms
+  task_sampling: mean=453.7ms, total=453.7ms, count=1, min=453.7ms, max=453.7ms
+  task_specific_sample: mean=449.3ms, total=449.3ms, count=1, min=449.3ms, max=449.3ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=584.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:44:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:44:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:44:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:44:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:44:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:44:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:44:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:44:12 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:44:12 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:44:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:44:12 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 20:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045654m	[env.py: 870]
+05/09 20:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:44:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9379168   0.59207368  0.04565429] yaw=-158.6deg	[env.py: 1019]
+05/09 20:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06898601  1.04803415  0.04565429] yaw=-145.2deg	[env.py: 1019]
+05/09 20:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90870137  0.60014477  0.04565429] yaw=-178.4deg	[env.py: 1019]
+05/09 20:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:44:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.0ms, total=155.1ms	[env.py: 1075]
+05/09 20:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.592, 0.046)	[env.py: 1079]
+05/09 20:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.6 deg	[env.py: 1082]
+05/09 20:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/09 20:44:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:44:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:44:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:44:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:44:13 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 20:44:13 INFO: [Worker 0] Worker 0 house 1 episode 17/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:44:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:44:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:44:13 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:44:13 INFO: [Worker 0] Collision-checked 388 grasps in 0.074s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:44:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.567s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:44:13 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.526[m] 95.004[deg]	[grasp_sample.py: 539]
+05/09 20:44:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:44:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:44:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:44:28 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:44:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 20:44:28 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
+05/09 20:44:32 INFO: [Worker 0] Worker 0 house 1 episode 16 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:44:38 INFO: [Worker 0] Worker 0 house 1 episode 16 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:44:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:44:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:44:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.00s (batch: 3.77s, save: 7.23s)	[pipeline.py: 300]
+05/09 20:44:39 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.39s:
+  episode_total: mean=179.89s, total=179.89s, count=1, min=179889.1ms, max=179889.1ms
+  sensor_polling: mean=461.6ms, total=129.71s, count=281, min=395.9ms, max=790.5ms
+  save_trajectories: mean=7.23s, total=7.23s, count=1, min=7230.9ms, max=7230.9ms
+  physics_step: mean=22.1ms, total=6.20s, count=281, min=13.9ms, max=43.0ms
+  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3771.9ms, max=3771.9ms
+  task_sampling: mean=394.6ms, total=394.6ms, count=1, min=394.6ms, max=394.6ms
+  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=368.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:44:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:44:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:44:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:44:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:44:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:44:41 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:44:41 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:44:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:44:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009290m	[env.py: 870]
+05/09 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:44:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09035864  0.90436203 -0.00928966] yaw=-150.2deg	[env.py: 1019]
+05/09 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99672678  0.12561641 -0.00928966] yaw=167.1deg	[env.py: 1019]
+05/09 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00944781  0.57600427 -0.00928966] yaw=-171.5deg	[env.py: 1019]
+05/09 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:44:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.5ms, total=87.5ms	[env.py: 1075]
+05/09 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.090, 0.904, -0.009)	[env.py: 1079]
+05/09 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.2 deg	[env.py: 1082]
+05/09 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
+05/09 20:44:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:44:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:44:41 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 20:44:41 INFO: [Worker 0] Worker 0 house 1 episode 17/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:44:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:44:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:44:41 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:44:41 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:44:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.385s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:44:42 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.547[m] 91.413[deg]	[grasp_sample.py: 539]
+05/09 20:44:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:44:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:44:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:44:51 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:44:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 20:44:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:44:55 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:44:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 20:44:55 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
+05/09 20:45:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:45:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:45:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:45:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.68s (batch: 3.95s, save: 7.73s)	[pipeline.py: 300]
+05/09 20:45:04 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.56s:
+  episode_total: mean=185.97s, total=185.97s, count=1, min=185974.5ms, max=185974.5ms
+  sensor_polling: mean=449.9ms, total=134.96s, count=300, min=382.4ms, max=687.7ms
+  save_trajectories: mean=7.73s, total=7.73s, count=1, min=7731.1ms, max=7731.1ms
+  physics_step: mean=22.7ms, total=6.82s, count=300, min=16.6ms, max=56.1ms
+  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3950.7ms, max=3950.7ms
+  task_sampling: mean=556.2ms, total=556.2ms, count=1, min=556.2ms, max=556.2ms
+  task_specific_sample: mean=551.5ms, total=551.5ms, count=1, min=551.5ms, max=551.5ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=558.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=26.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:45:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:45:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:45:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:45:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:45:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:45:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:45:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:45:05 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:45:05 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 20:45:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:45:05 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 20:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019475m	[env.py: 870]
+05/09 20:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:45:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.29845179  1.01884332 -0.01947474] yaw=-140.1deg	[env.py: 1019]
+05/09 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.18021181  0.93109476 -0.01947474] yaw=-139.8deg	[env.py: 1019]
+05/09 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.09223356  0.6015623  -0.01947474] yaw=-165.2deg	[env.py: 1019]
+05/09 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:45:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=266.6ms, total=266.6ms	[env.py: 1075]
+05/09 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.298, 1.019, -0.019)	[env.py: 1079]
+05/09 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.1 deg	[env.py: 1082]
+05/09 20:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m	[env.py: 1086]
+05/09 20:45:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:45:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:45:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:45:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:45:06 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 20:45:06 INFO: [Worker 0] Worker 0 house 1 episode 17/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:45:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:45:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:45:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:45:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.094s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:45:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:45:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:45:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.92s (batch: 3.65s, save: 8.27s)	[pipeline.py: 300]
+05/09 20:45:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.764s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:45:07 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.449[m] 78.178[deg]	[grasp_sample.py: 539]
+05/09 20:45:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:45:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:45:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:45:08 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.45s:
+  episode_total: mean=165.41s, total=165.41s, count=1, min=165408.7ms, max=165408.7ms
+  sensor_polling: mean=457.0ms, total=124.75s, count=273, min=380.4ms, max=665.7ms
+  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8272.4ms, max=8272.4ms
+  physics_step: mean=24.1ms, total=6.58s, count=273, min=16.8ms, max=70.2ms
+  save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3649.4ms, max=3649.4ms
+  task_sampling: mean=453.2ms, total=453.2ms, count=1, min=453.2ms, max=453.2ms
+  task_specific_sample: mean=449.6ms, total=449.6ms, count=1, min=449.6ms, max=449.6ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=378.6us, 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 20:45:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:45:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:45:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:45:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:45:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:45:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:45:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:45:09 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:45:09 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:45:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:45:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042137m	[env.py: 870]
+05/09 20:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:45:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8634212   0.63442447 -0.04213724] yaw=-160.3deg	[env.py: 1019]
+05/09 20:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92259982  0.00711509 -0.04213724] yaw=144.7deg	[env.py: 1019]
+05/09 20:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.18119289  0.79943756 -0.04213724] yaw=-141.4deg	[env.py: 1019]
+05/09 20:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:45:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=445.6ms, total=445.6ms	[env.py: 1075]
+05/09 20:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.863, 0.634, -0.042)	[env.py: 1079]
+05/09 20:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.3 deg	[env.py: 1082]
+05/09 20:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/09 20:45:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:45:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:45:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:45:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:45:10 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 20:45:10 INFO: [Worker 0] Worker 0 house 1 episode 17/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:45:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:45:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:45:10 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:45:10 INFO: [Worker 0] Collision-checked 388 grasps in 0.089s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:45:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:45:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.084s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:45:12 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.608[m] 88.814[deg]	[grasp_sample.py: 539]
+05/09 20:45:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:45:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:45:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:45:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:45:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:45:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:45:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:45:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:45:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:46:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:46:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:46:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:46:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:46:51 INFO: [Worker 0] Worker 0 house 1 episode 17 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:47:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:47:08 INFO: [Worker 0] Worker 0 house 1 episode 17 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:47:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:47:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:47:11 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:47:11 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 20:47:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:47:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:47:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:47:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:47:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:47:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:47:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 20:47:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 20:47:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:47:20 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:47:20 INFO: [Worker 0] Collision-checked 388 grasps in 0.100s, found 322 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:47:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.655s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:47:21 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.084[m] 0.445[deg]	[grasp_sample.py: 539]
+05/09 20:47:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:47:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:47:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:47:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:47:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:47:25 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.14s (batch: 4.07s, save: 9.07s)	[pipeline.py: 300]
+05/09 20:47:25 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.46s:
+  episode_total: mean=192.99s, total=192.99s, count=1, min=192989.4ms, max=192989.4ms
+  sensor_polling: mean=453.8ms, total=136.13s, count=300, min=387.4ms, max=1082.8ms
+  save_trajectories: mean=9.07s, total=9.07s, count=1, min=9071.4ms, max=9071.4ms
+  physics_step: mean=23.8ms, total=7.14s, count=300, min=14.5ms, max=91.1ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4068.9ms, max=4068.9ms
+  task_sampling: mean=464.4ms, total=464.4ms, count=1, min=464.4ms, max=464.4ms
+  task_specific_sample: mean=459.9ms, total=459.9ms, count=1, min=459.9ms, max=459.9ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=576.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:47:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:47:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:47:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:47:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:47:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:47:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:47:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:47:27 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:47:27 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 20:47:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:47:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044355m	[env.py: 870]
+05/09 20:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:47:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01591518  0.69063012 -0.04435493] yaw=-161.5deg	[env.py: 1019]
+05/09 20:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.94100044  0.24370245 -0.04435493] yaw=167.8deg	[env.py: 1019]
+05/09 20:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.12451405  0.82826525 -0.04435493] yaw=-155.7deg	[env.py: 1019]
+05/09 20:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:47:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.4ms, total=150.4ms	[env.py: 1075]
+05/09 20:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.016, 0.691, -0.044)	[env.py: 1079]
+05/09 20:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.5 deg	[env.py: 1082]
+05/09 20:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
+05/09 20:47:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:47:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:47:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:47:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:47:27 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 20:47:27 INFO: [Worker 0] Worker 0 house 1 episode 18/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:47:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:47:27 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 20:47:27 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:47:27 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:47:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.395s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:47:28 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.519[m] 93.210[deg]	[grasp_sample.py: 539]
+05/09 20:47:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:47:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:47:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:47:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:47:31 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:47:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 20:47:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:47:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:47:39 INFO: [Worker 0] Worker 0 house 1 episode 17 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:47:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:47:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:47:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:47:42 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.68s (batch: 3.89s, save: 7.79s)	[pipeline.py: 300]
+05/09 20:47:43 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.34s:
+  episode_total: mean=182.20s, total=182.20s, count=1, min=182201.8ms, max=182201.8ms
+  sensor_polling: mean=454.5ms, total=136.35s, count=300, min=385.2ms, max=772.3ms
+  save_trajectories: mean=7.79s, total=7.79s, count=1, min=7789.9ms, max=7789.9ms
+  physics_step: mean=22.3ms, total=6.68s, count=300, min=13.8ms, max=86.2ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3894.2ms, max=3894.2ms
+  task_sampling: mean=344.4ms, total=344.4ms, count=1, min=344.4ms, max=344.4ms
+  task_specific_sample: mean=340.8ms, total=340.8ms, count=1, min=340.8ms, max=340.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=375.5us, 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 20:47:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:47:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:47:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:47:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:47:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:47:45 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:47:45 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:47:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:47:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004429m	[env.py: 870]
+05/09 20:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:47:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02001352  0.63326842  0.00442858] yaw=-155.6deg	[env.py: 1019]
+05/09 20:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06625451  0.61126809  0.00442858] yaw=-160.9deg	[env.py: 1019]
+05/09 20:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:47:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=148.7ms, total=148.7ms	[env.py: 1075]
+05/09 20:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.633, 0.004)	[env.py: 1079]
+05/09 20:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.6 deg	[env.py: 1082]
+05/09 20:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/09 20:47:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:47:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:47:45 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 20:47:45 INFO: [Worker 0] Worker 0 house 1 episode 18/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:47:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:47:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:47:45 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:47:45 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:47:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.419s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:47:46 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.406[m] 79.801[deg]	[grasp_sample.py: 539]
+05/09 20:47:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:47:46 INFO: [Worker 0] Worker 0 house 1 episode 17 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:47:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:47:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:47:58 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:47:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 20:47:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:48:05 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:48:05 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 20:48:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:48:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:48:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:48:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.86s (batch: 3.82s, save: 8.04s)	[pipeline.py: 300]
+05/09 20:48:10 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.73s:
+  episode_total: mean=180.88s, total=180.88s, count=1, min=180876.6ms, max=180876.6ms
+  sensor_polling: mean=451.6ms, total=135.49s, count=300, min=371.5ms, max=706.2ms
+  save_trajectories: mean=8.04s, total=8.04s, count=1, min=8040.2ms, max=8040.2ms
+  physics_step: mean=23.8ms, total=7.14s, count=300, min=13.6ms, max=69.3ms
+  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3823.5ms, max=3823.5ms
+  task_sampling: mean=728.1ms, total=728.1ms, count=1, min=728.1ms, max=728.1ms
+  task_specific_sample: mean=723.7ms, total=723.7ms, count=1, min=723.7ms, max=723.7ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=471.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:48:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:48:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:48:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:48:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:48:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:48:12 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:48:12 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:48:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:48:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039649m	[env.py: 870]
+05/09 20:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:48:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94902468  0.03262302 -0.03964942] yaw=150.8deg	[env.py: 1019]
+05/09 20:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98240151  0.67873069 -0.03964942] yaw=-161.9deg	[env.py: 1019]
+05/09 20:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.12696736  0.95521713 -0.03964942] yaw=-145.4deg	[env.py: 1019]
+05/09 20:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:48:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.5ms, total=209.5ms	[env.py: 1075]
+05/09 20:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.033, -0.040)	[env.py: 1079]
+05/09 20:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.8 deg	[env.py: 1082]
+05/09 20:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
+05/09 20:48:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:48:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:48:12 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 20:48:12 INFO: [Worker 0] Worker 0 house 1 episode 18/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:48:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:48:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:48:12 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:48:13 INFO: [Worker 0] Collision-checked 388 grasps in 0.076s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:48:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.822s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:48:14 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.597[m] 86.335[deg]	[grasp_sample.py: 539]
+05/09 20:48:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:48:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:48:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:48:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:48:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:48:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:48:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.85s (batch: 3.76s, save: 9.09s)	[pipeline.py: 300]
+05/09 20:48:19 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.60s:
+  episode_total: mean=193.12s, total=193.12s, count=1, min=193116.7ms, max=193116.7ms
+  sensor_polling: mean=457.3ms, total=137.18s, count=300, min=387.6ms, max=838.6ms
+  save_trajectories: mean=9.09s, total=9.09s, count=1, min=9091.2ms, max=9091.2ms
+  physics_step: mean=21.8ms, total=6.55s, count=300, min=14.4ms, max=42.3ms
+  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3759.5ms, max=3759.5ms
+  task_sampling: mean=602.4ms, total=602.4ms, count=1, min=602.4ms, max=602.4ms
+  task_specific_sample: mean=598.7ms, total=598.7ms, count=1, min=598.7ms, max=598.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=440.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:48:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:48:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:48:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:48:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:48:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:48:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:48:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:48:20 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:48:20 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:48:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:48:20 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 20:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004973m	[env.py: 870]
+05/09 20:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:48:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97541029  0.86030943 -0.00497343] yaw=-142.0deg	[env.py: 1019]
+05/09 20:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13268433  0.99586159 -0.00497343] yaw=-135.6deg	[env.py: 1019]
+05/09 20:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96049538 -0.03426671 -0.00497343] yaw=152.7deg	[env.py: 1019]
+05/09 20:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:48:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.1ms, total=113.1ms	[env.py: 1075]
+05/09 20:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.975, 0.860, -0.005)	[env.py: 1079]
+05/09 20:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.0 deg	[env.py: 1082]
+05/09 20:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
+05/09 20:48:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:48:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:48:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:48:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:48:20 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 20:48:20 INFO: [Worker 0] Worker 0 house 1 episode 18/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:48:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:48:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:48:20 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:48:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:48:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:48:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.392s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:48:23 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.555[m] 88.722[deg]	[grasp_sample.py: 539]
+05/09 20:48:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:48:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:48:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:48:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:48:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:48:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:48:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:49:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:49:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:49:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:49:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:49:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:49:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:49:45 INFO: [Worker 0] Worker 0 house 1 episode 18 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:49:53 INFO: [Worker 0] Worker 0 house 1 episode 18 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:50:04 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:50:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 20:50:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:50:11 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:50:11 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 20:50:11 INFO: [Worker 0] Preparing episode data: 277 timesteps	[save_utils.py: 278]
+05/09 20:50:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:50:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:50:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.09s (batch: 4.14s, save: 7.95s)	[pipeline.py: 300]
+05/09 20:50:17 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.40s:
+  episode_total: mean=170.21s, total=170.21s, count=1, min=170212.4ms, max=170212.4ms
+  sensor_polling: mean=426.9ms, total=128.08s, count=300, min=392.0ms, max=638.3ms
+  save_trajectories: mean=7.95s, total=7.95s, count=1, min=7946.1ms, max=7946.1ms
+  physics_step: mean=21.3ms, total=6.38s, count=300, min=14.9ms, max=52.1ms
+  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4141.2ms, max=4141.2ms
+  task_sampling: mean=399.7ms, total=399.7ms, count=1, min=399.7ms, max=399.7ms
+  task_specific_sample: mean=396.3ms, total=396.3ms, count=1, min=396.3ms, max=396.3ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=366.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:50:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:50:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:50:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:50:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:50:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:50:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:50:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:50:18 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:50:18 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:50:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:50:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003516m	[env.py: 870]
+05/09 20:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:50:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.11686914  0.25407026 -0.0035158 ] yaw=173.3deg	[env.py: 1019]
+05/09 20:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12495268  1.06646946 -0.0035158 ] yaw=-134.1deg	[env.py: 1019]
+05/09 20:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15170878  0.81796717 -0.0035158 ] yaw=-155.1deg	[env.py: 1019]
+05/09 20:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:50:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.6ms, total=113.6ms	[env.py: 1075]
+05/09 20:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.117, 0.254, -0.004)	[env.py: 1079]
+05/09 20:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.3 deg	[env.py: 1082]
+05/09 20:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.708m	[env.py: 1086]
+05/09 20:50:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:50:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:50:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:50:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:50:19 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 20:50:19 INFO: [Worker 0] Worker 0 house 1 episode 19/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:50:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:50:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:50:19 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:50:19 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:50:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.404s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:50:19 INFO: [Worker 0] Feasible grasp found 348 (originally 154): w/ 0.303[m] 80.615[deg]	[grasp_sample.py: 539]
+05/09 20:50:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:50:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:50:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:50:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:50:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:50:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.52s (batch: 3.61s, save: 6.91s)	[pipeline.py: 300]
+05/09 20:50:23 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.40s:
+  episode_total: mean=158.00s, total=158.00s, count=1, min=157997.4ms, max=157997.4ms
+  sensor_polling: mean=431.9ms, total=119.20s, count=276, min=387.7ms, max=651.9ms
+  save_trajectories: mean=6.91s, total=6.91s, count=1, min=6907.3ms, max=6907.3ms
+  physics_step: mean=21.2ms, total=5.86s, count=276, min=14.2ms, max=43.6ms
+  save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3614.0ms, max=3614.0ms
+  task_sampling: mean=400.1ms, total=400.1ms, count=1, min=400.1ms, max=400.1ms
+  task_specific_sample: mean=396.9ms, total=396.9ms, count=1, min=396.9ms, max=396.9ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=381.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:50:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:50:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:50:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:50:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:50:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:50:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:50:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:50:24 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:50:24 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]
+05/09 20:50:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:50:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012341m	[env.py: 870]
+05/09 20:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:50:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08420972  0.79279323  0.01234061] yaw=-144.1deg	[env.py: 1019]
+05/09 20:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92648832  0.11040054  0.01234061] yaw=166.3deg	[env.py: 1019]
+05/09 20:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.1754773   0.7625996   0.01234061] yaw=-143.1deg	[env.py: 1019]
+05/09 20:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:50:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.8ms, total=133.9ms	[env.py: 1075]
+05/09 20:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.084, 0.793, 0.012)	[env.py: 1079]
+05/09 20:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.1 deg	[env.py: 1082]
+05/09 20:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m	[env.py: 1086]
+05/09 20:50:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:50:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:50:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:50:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:50:24 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 20:50:24 INFO: [Worker 0] Worker 0 house 1 episode 19/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:50:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:50:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:50:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:50:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:50:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.383s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:50:25 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.445[m] 82.634[deg]	[grasp_sample.py: 539]
+05/09 20:50:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:50:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:50:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:50:32 INFO: [Worker 0] Worker 0 house 1 episode 18 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:50:40 INFO: [Worker 0] Worker 0 house 1 episode 18 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:50:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:50:51 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:50:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 20:50:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:50:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:50:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:50:59 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:50:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 20:50:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:51:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:51:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:51:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.57s (batch: 3.82s, save: 7.75s)	[pipeline.py: 300]
+05/09 20:51:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:51:03 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.46s:
+  episode_total: mean=171.55s, total=171.55s, count=1, min=171546.7ms, max=171546.7ms
+  sensor_polling: mean=430.5ms, total=129.15s, count=300, min=378.4ms, max=642.1ms
+  save_trajectories: mean=7.75s, total=7.75s, count=1, min=7751.3ms, max=7751.3ms
+  physics_step: mean=20.1ms, total=6.02s, count=300, min=13.7ms, max=33.3ms
+  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3818.2ms, max=3818.2ms
+  task_sampling: mean=464.9ms, total=464.9ms, count=1, min=464.9ms, max=464.9ms
+  task_specific_sample: mean=461.2ms, total=461.2ms, count=1, min=461.2ms, max=461.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=431.5us, 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]
+05/09 20:51:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:51:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:51:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:51:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:51:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:51:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:51:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:51:05 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:51:05 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 20:51:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:51:05 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 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020998m	[env.py: 870]
+05/09 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:51:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0232238   0.15507044 -0.02099799] yaw=171.2deg	[env.py: 1019]
+05/09 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81429791  0.51991553 -0.02099799] yaw=-182.2deg	[env.py: 1019]
+05/09 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90956014  0.29845887 -0.02099799] yaw=171.4deg	[env.py: 1019]
+05/09 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:51:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.3ms, total=131.4ms	[env.py: 1075]
+05/09 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.023, 0.155, -0.021)	[env.py: 1079]
+05/09 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.2 deg	[env.py: 1082]
+05/09 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
+05/09 20:51:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:51:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:51:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:51:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:51:05 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 20:51:05 INFO: [Worker 0] Worker 0 house 1 episode 19/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:51:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:51:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:51:05 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:51:05 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:51:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.437s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:51:06 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.480[m] 88.121[deg]	[grasp_sample.py: 539]
+05/09 20:51:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:51:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:51:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:51:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:51:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:51:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.61s (batch: 3.73s, save: 7.88s)	[pipeline.py: 300]
+05/09 20:51:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:51:11 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.36s:
+  episode_total: mean=171.22s, total=171.22s, count=1, min=171224.3ms, max=171224.3ms
+  sensor_polling: mean=428.3ms, total=128.50s, count=300, min=374.6ms, max=663.2ms
+  save_trajectories: mean=7.88s, total=7.88s, count=1, min=7883.9ms, max=7883.9ms
+  physics_step: mean=20.4ms, total=6.12s, count=300, min=13.8ms, max=42.4ms
+  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3729.7ms, max=3729.7ms
+  task_sampling: mean=361.6ms, total=361.6ms, count=1, min=361.6ms, max=361.6ms
+  task_specific_sample: mean=358.2ms, total=358.2ms, count=1, min=358.2ms, max=358.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=369.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:51:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:51:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:51:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:51:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:51:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:51:13 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:51:13 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 20:51:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:51:13 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 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024589m	[env.py: 870]
+05/09 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:51:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92854144  0.31935611 -0.02458941] yaw=177.3deg	[env.py: 1019]
+05/09 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02123942  0.37762014 -0.02458941] yaw=185.4deg	[env.py: 1019]
+05/09 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.22227845  0.93944013 -0.02458941] yaw=-142.8deg	[env.py: 1019]
+05/09 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:51:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.7ms, total=135.8ms	[env.py: 1075]
+05/09 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.319, -0.025)	[env.py: 1079]
+05/09 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.3 deg	[env.py: 1082]
+05/09 20:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/09 20:51:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:51:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:51:13 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 20:51:13 INFO: [Worker 0] Worker 0 house 1 episode 19/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:51:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:51:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:51:13 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:51:13 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:51:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.459s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:51:14 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.556[m] 91.459[deg]	[grasp_sample.py: 539]
+05/09 20:51:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:51:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:51:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:51:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:51:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:51:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:51:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:52:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:52:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:52:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:52:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:52:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:52:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:52:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:52:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:52:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:52:18 INFO: [Worker 0] Object is not in grasp! 0.00199 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/09 20:52:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 20:52:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:52:18 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:52:18 INFO: [Worker 0] Collision-checked 388 grasps in 0.085s, found 342 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:52:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.698s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:52:20 INFO: [Worker 0] Feasible grasp found 323 (originally 129): w/ 0.077[m] 6.659[deg]	[grasp_sample.py: 539]
+05/09 20:52:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:52:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:52:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:52:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:52:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:52:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:52:36 INFO: [Worker 0] Worker 0 house 1 episode 19 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:52:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:52:57 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:52:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 20:52:57 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
+05/09 20:52:58 INFO: [Worker 0] Worker 0 house 1 episode 19 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:53:01 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/09 20:53:01 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.41s:
+  episode_total: mean=157.46s, total=157.46s, count=1, min=157458.3ms, max=157458.3ms
+  sensor_polling: mean=432.3ms, total=123.20s, count=285, min=391.9ms, max=699.0ms
+  physics_step: mean=20.9ms, total=5.96s, count=285, min=13.7ms, max=34.8ms
+  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4599.3ms, max=4599.3ms
+  task_sampling: mean=406.1ms, total=406.1ms, count=1, min=406.1ms, max=406.1ms
+  task_specific_sample: mean=402.7ms, total=402.7ms, count=1, min=402.7ms, max=402.7ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=364.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:53:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:53:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:53:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:53:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:53:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:53:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:53:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:53:03 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:53:03 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:53:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:53:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008455m	[env.py: 870]
+05/09 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:53:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95649847  0.43877362 -0.00845496] yaw=-172.4deg	[env.py: 1019]
+05/09 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94484836  0.37104294 -0.00845496] yaw=179.0deg	[env.py: 1019]
+05/09 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97597106  0.62705182 -0.00845496] yaw=-158.0deg	[env.py: 1019]
+05/09 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:53:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.0ms, total=120.1ms	[env.py: 1075]
+05/09 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.956, 0.439, -0.008)	[env.py: 1079]
+05/09 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.4 deg	[env.py: 1082]
+05/09 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
+05/09 20:53:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:53:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:53:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:53:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:53:04 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/09 20:53:04 INFO: [Worker 0] Worker 0 house 1 episode 20/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:53:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:53:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:53:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:53:04 INFO: [Worker 0] Collision-checked 388 grasps in 0.076s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:53:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.517s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:53:04 INFO: [Worker 0] Feasible grasp found 344 (originally 150): w/ 0.519[m] 94.012[deg]	[grasp_sample.py: 539]
+05/09 20:53:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:53:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:53:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:53:21 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:53:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 20:53:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:53:25 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 20:53:25 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.40s:
+  episode_total: mean=187.10s, total=187.10s, count=1, min=187101.3ms, max=187101.3ms
+  sensor_polling: mean=442.6ms, total=132.77s, count=300, min=394.2ms, max=735.5ms
+  physics_step: mean=24.1ms, total=7.22s, count=300, min=14.2ms, max=43.5ms
+  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4591.5ms, max=4591.5ms
+  task_sampling: mean=395.6ms, total=395.6ms, count=1, min=395.6ms, max=395.6ms
+  task_specific_sample: mean=392.2ms, total=392.2ms, count=1, min=392.2ms, max=392.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=367.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:53:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:53:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:53:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:53:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:53:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:53:27 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:53:27 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 20:53:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:53:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044481m	[env.py: 870]
+05/09 20:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:53:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09408237  0.32464336  0.04448087] yaw=170.2deg	[env.py: 1019]
+05/09 20:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93338903  0.87497365  0.04448087] yaw=-162.2deg	[env.py: 1019]
+05/09 20:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.1918254   0.92111307  0.04448087] yaw=-139.1deg	[env.py: 1019]
+05/09 20:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:53:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.8ms, total=198.9ms	[env.py: 1075]
+05/09 20:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.094, 0.325, 0.044)	[env.py: 1079]
+05/09 20:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.2 deg	[env.py: 1082]
+05/09 20:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.717m	[env.py: 1086]
+05/09 20:53:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:53:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:53:28 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 20:53:28 INFO: [Worker 0] Worker 0 house 1 episode 20/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:53:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:53:28 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 20:53:28 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:53:28 INFO: [Worker 0] Collision-checked 388 grasps in 0.081s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:53:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.522s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:53:28 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.392[m] 96.031[deg]	[grasp_sample.py: 539]
+05/09 20:53:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:53:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:53:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:53:32 INFO: [Worker 0] Worker 0 house 1 episode 19 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:53:46 INFO: [Worker 0] Worker 0 house 1 episode 19 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:53:54 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:53:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 20:53:54 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/09 20:53:59 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 20:53:59 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.42s:
+  episode_total: mean=173.75s, total=173.75s, count=1, min=173746.5ms, max=173746.5ms
+  sensor_polling: mean=468.1ms, total=136.69s, count=292, min=401.4ms, max=680.5ms
+  physics_step: mean=22.5ms, total=6.57s, count=292, min=13.8ms, max=37.5ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4614.1ms, max=4614.1ms
+  task_sampling: mean=420.0ms, total=420.0ms, count=1, min=420.0ms, max=420.0ms
+  task_specific_sample: mean=416.6ms, total=416.6ms, count=1, min=416.6ms, max=416.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=368.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:54:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:54:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:54:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:54:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:54:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:54:01 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:54:01 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 20:54:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:54:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045567m	[env.py: 870]
+05/09 20:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:54:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:54:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=179.3ms, total=179.3ms	[env.py: 1105]
+05/09 20:54:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0'	[opening_task_samplers.py: 285]
+05/09 20:54:01 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0	[pipeline.py: 1063]
+05/09 20:54:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:54:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:54:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:54:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:54:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:54:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:54:03 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:54:03 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:54:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:54:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034818m	[env.py: 870]
+05/09 20:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:54:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.19355693  1.14184785 -0.03481841] yaw=-123.5deg	[env.py: 1019]
+05/09 20:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:54:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.0ms, total=201.0ms	[env.py: 1075]
+05/09 20:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.194, 1.142, -0.035)	[env.py: 1079]
+05/09 20:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.5 deg	[env.py: 1082]
+05/09 20:54:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m	[env.py: 1086]
+05/09 20:54:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:54:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:54:03 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/09 20:54:03 INFO: [Worker 0] Worker 0 house 1 episode 21/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:54:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:54:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:54:03 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:54:03 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:54:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.704s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:54:04 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.593[m] 88.997[deg]	[grasp_sample.py: 539]
+05/09 20:54:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:54:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:54:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:54:10 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:54:10 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 20:54:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:54:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:54:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:54:15 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/09 20:54:15 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.42s:
+  episode_total: mean=182.57s, total=182.57s, count=1, min=182573.5ms, max=182573.5ms
+  sensor_polling: mean=475.8ms, total=142.73s, count=300, min=407.9ms, max=682.6ms
+  physics_step: mean=24.0ms, total=7.20s, count=300, min=17.1ms, max=45.5ms
+  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4650.6ms, max=4650.6ms
+  task_sampling: mean=421.3ms, total=421.3ms, count=1, min=421.3ms, max=421.3ms
+  task_specific_sample: mean=417.7ms, total=417.7ms, count=1, min=417.7ms, max=417.7ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=371.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:54:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:54:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:54:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:54:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:54:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:54:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:54:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:54:17 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:54:17 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:54:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:54:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014601m	[env.py: 870]
+05/09 20:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:54:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1373597   1.0895007   0.01460147] yaw=-126.6deg	[env.py: 1019]
+05/09 20:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98712495  0.76789326  0.01460147] yaw=-165.3deg	[env.py: 1019]
+05/09 20:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02755246  0.92174321  0.01460147] yaw=-154.3deg	[env.py: 1019]
+05/09 20:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:54:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.1ms, total=141.2ms	[env.py: 1075]
+05/09 20:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.137, 1.090, 0.015)	[env.py: 1079]
+05/09 20:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.6 deg	[env.py: 1082]
+05/09 20:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
+05/09 20:54:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:54:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:54:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:54:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:54:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:54:18 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 20:54:18 INFO: [Worker 0] Worker 0 house 1 episode 20/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:54:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:54:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:54:18 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:54:18 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:54:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.694s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:54:19 INFO: [Worker 0] Feasible grasp found 149 (originally 149): w/ 0.579[m] 89.009[deg]	[grasp_sample.py: 539]
+05/09 20:54:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:54:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:54:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:54:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:54:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:55:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:55:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:55:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:55:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:55:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:55:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:55:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:55:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:55:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:55:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:55:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:55:49 INFO: [Worker 0] Worker 0 house 1 episode 20 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:55:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:55:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:55:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:55:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 20:55:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 20:55:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:55:54 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:55:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.114s, found 340 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:56:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.443s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:56:00 INFO: [Worker 0] Feasible grasp found 249 (originally 55): w/ 0.138[m] 2.974[deg]	[grasp_sample.py: 539]
+05/09 20:56:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:56:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:56:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:56:13 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:56:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 20:56:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:56:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:56:18 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/09 20:56:18 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.44s:
+  episode_total: mean=194.42s, total=194.42s, count=1, min=194421.0ms, max=194421.0ms
+  sensor_polling: mean=513.6ms, total=154.07s, count=300, min=468.1ms, max=947.2ms
+  physics_step: mean=24.4ms, total=7.32s, count=300, min=16.1ms, max=39.1ms
+  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4541.0ms, max=4541.0ms
+  task_sampling: mean=439.3ms, total=439.3ms, count=1, min=439.3ms, max=439.3ms
+  task_specific_sample: mean=435.3ms, total=435.3ms, count=1, min=435.3ms, max=435.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=429.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:56:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:56:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:56:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:56:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:56:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:56:19 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:56:19 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:56:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:56:19 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 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018613m	[env.py: 870]
+05/09 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:56:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1652766   1.11273124 -0.01861318] yaw=-125.1deg	[env.py: 1019]
+05/09 20:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06806393  0.90076058 -0.01861318] yaw=-145.0deg	[env.py: 1019]
+05/09 20:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:56:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=324.2ms, total=324.2ms	[env.py: 1075]
+05/09 20:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.165, 1.113, -0.019)	[env.py: 1079]
+05/09 20:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.1 deg	[env.py: 1082]
+05/09 20:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
+05/09 20:56:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:56:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:56:20 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 20:56:20 INFO: [Worker 0] Worker 0 house 1 episode 21/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:56:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:56:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:56:20 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:56:20 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:56:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.262s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:56:22 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.598[m] 87.982[deg]	[grasp_sample.py: 539]
+05/09 20:56:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:56:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:56:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:56:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:56:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:56:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:56:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:56:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:56:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:56:31 INFO: [Worker 0] Worker 0 house 1 episode 20 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:56:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:56:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:56:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:56:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:56:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 20:56:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 20:56:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:56:37 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:56:37 INFO: [Worker 0] Collision-checked 388 grasps in 0.087s, found 322 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:56:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.654s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:56:39 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.047[m] 0.606[deg]	[grasp_sample.py: 539]
+05/09 20:56:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:56:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:56:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:56:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:56:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:56:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:56:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:56:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:56:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:56:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:56:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:56:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 20:56:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 20:56:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:56:53 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:56:53 INFO: [Worker 0] Collision-checked 388 grasps in 0.095s, found 342 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:56:54 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:56:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 20:56:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:56:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.728s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:56:56 INFO: [Worker 0] Feasible grasp found 26 (originally 26): w/ 0.216[m] 1.910[deg]	[grasp_sample.py: 539]
+05/09 20:56:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:56:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:56:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:56:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:56:58 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/09 20:56:58 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.53s:
+  episode_total: mean=211.08s, total=211.08s, count=1, min=211080.6ms, max=211080.6ms
+  sensor_polling: mean=510.0ms, total=152.99s, count=300, min=477.2ms, max=833.5ms
+  physics_step: mean=25.1ms, total=7.54s, count=300, min=17.0ms, max=75.7ms
+  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4581.2ms, max=4581.2ms
+  task_sampling: mean=525.5ms, total=525.5ms, count=1, min=525.5ms, max=525.5ms
+  task_specific_sample: mean=521.2ms, total=521.2ms, count=1, min=521.2ms, max=521.2ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=453.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:56:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:57:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:57:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:57:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:57:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:57:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:57:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:57:00 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:57:00 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:57:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:57:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.049486m	[env.py: 870]
+05/09 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:57:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94931115  0.1098661  -0.04948584] yaw=169.8deg	[env.py: 1019]
+05/09 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.22157777  0.88089201 -0.04948584] yaw=-149.3deg	[env.py: 1019]
+05/09 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03795394  0.50866724 -0.04948584] yaw=-180.4deg	[env.py: 1019]
+05/09 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:57:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.5ms, total=213.6ms	[env.py: 1075]
+05/09 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.110, -0.049)	[env.py: 1079]
+05/09 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg	[env.py: 1082]
+05/09 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
+05/09 20:57:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:57:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:57:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:57:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:57:01 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 20:57:01 INFO: [Worker 0] Worker 0 house 1 episode 21/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:57:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:57:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:57:01 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:57:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:57:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.795s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:57:03 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.618[m] 96.638[deg]	[grasp_sample.py: 539]
+05/09 20:57:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:57:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:57:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:57:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 20:57:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 20:57:09 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 20:57:09 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:57:09 INFO: [Worker 0] Collision-checked 388 grasps in 0.081s, found 342 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:57:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 20:57:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 20:57:11 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 20:57:11 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:57:11 INFO: [Worker 0] Collision-checked 388 grasps in 0.087s, found 346 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:57:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.340s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:57:13 INFO: [Worker 0] Feasible grasp found 26 (originally 26): w/ 0.216[m] 1.910[deg]	[grasp_sample.py: 539]
+05/09 20:57:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:57:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:57:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:57:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.796s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:57:14 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.087[m] 2.524[deg]	[grasp_sample.py: 539]
+05/09 20:57:15 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/09 20:57:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:57:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:57:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:57:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:57:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:57:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:57:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:57:17 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:57:17 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 20:57:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:57:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.030m, effective arm-mount z=0.830m (base_body_z=-0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 20:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.029887m	[env.py: 870]
+05/09 20:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:57:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08690803  0.59268809 -0.02988667] yaw=-159.9deg	[env.py: 1019]
+05/09 20:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97291354  0.25490025 -0.02988667] yaw=168.1deg	[env.py: 1019]
+05/09 20:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0244964   0.87636279 -0.02988667] yaw=-159.5deg	[env.py: 1019]
+05/09 20:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 20:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:57:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.7ms, total=99.8ms	[env.py: 1075]
+05/09 20:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.087, 0.593, -0.030)	[env.py: 1079]
+05/09 20:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg	[env.py: 1082]
+05/09 20:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.737m	[env.py: 1086]
+05/09 20:57:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:57:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:57:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:57:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:57:17 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 20:57:17 INFO: [Worker 0] Worker 0 house 1 episode 21/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:57:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:57:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:57:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:57:17 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:57:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.482s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:57:18 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.388[m] 87.954[deg]	[grasp_sample.py: 539]
+05/09 20:57:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:57:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:57:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:57:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:57:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:57:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 20:57:27 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/09 20:57:27 INFO: [Worker 0] Worker 0 house 1 episode 21 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:57:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:57:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:57:49 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:57:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 20:57:49 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/09 20:57:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:58:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 20:58:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 20:58:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.87s (batch: 4.42s, save: 9.45s)	[pipeline.py: 300]
+05/09 20:58:03 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.54s:
+  episode_total: mean=120.53s, total=241.05s, count=2, min=190.8ms, max=240859.4ms
+  sensor_polling: mean=501.6ms, total=149.98s, count=299, min=463.9ms, max=789.3ms
+  save_trajectories: mean=9.45s, total=9.45s, count=1, min=9448.6ms, max=9448.6ms
+  physics_step: mean=23.7ms, total=7.09s, count=299, min=14.1ms, max=68.3ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4417.9ms, max=4417.9ms
+  task_specific_sample: mean=361.8ms, total=723.7ms, count=2, min=185.4ms, max=538.3ms
+  task_sampling: mean=541.3ms, total=541.3ms, count=1, min=541.3ms, max=541.3ms
+  task_sampling_failed: mean=190.8ms, total=190.8ms, count=1, min=190.8ms, max=190.8ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.3ms, max=2.7ms
+  mj_forward_sync: mean=426.0us, total=0.9ms, count=2, 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=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 20:58:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 20:58:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 20:58:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 20:58:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:58:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:58:05 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 20:58:05 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 20:58:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 20:58:05 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 20:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 20:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 20:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020105m	[env.py: 870]
+05/09 20:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 20:58:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 20:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 20:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.11616533  1.04646913 -0.02010493] yaw=-131.1deg	[env.py: 1019]
+05/09 20:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 20:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 20:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.84540434  0.27706281 -0.02010493] yaw=168.8deg	[env.py: 1019]
+05/09 20:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 20:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 20:58:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.8ms, total=203.9ms	[env.py: 1075]
+05/09 20:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.116, 1.046, -0.020)	[env.py: 1079]
+05/09 20:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.1 deg	[env.py: 1082]
+05/09 20:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m	[env.py: 1086]
+05/09 20:58:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 20:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 20:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 20:58:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 20:58:06 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 20:58:06 INFO: [Worker 0] Worker 0 house 1 episode 22/60 collected=0/10	[pipeline.py: 1044]
+05/09 20:58:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/09 20:58:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:58:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:58:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:58:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:58:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.619s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:58:07 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.544[m] 88.120[deg]	[grasp_sample.py: 539]
+05/09 20:58:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:58:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:58:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:58:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:58:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:58:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:58:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:58:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:58:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:58:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:58:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:59:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:59:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:59:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:59:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 20:59:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 20:59:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 20:59:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 20:59:05 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 20:59:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.107s, found 336 non-colliding grasps	[grasp_sample.py: 465]
+05/09 20:59:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:59:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.801s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 20:59:07 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.056[m] 4.898[deg]	[grasp_sample.py: 539]
+05/09 20:59:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 20:59:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 20:59:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:59:15 INFO: [Worker 0] Worker 0 house 1 episode 21 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:59:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 20:59:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 20:59:45 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 20:59:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 20:59:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 20:59:47 INFO: [Worker 0] Worker 0 house 1 episode 21 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 20:59:57 INFO: [Worker 0] Worker 0 house 1 episode 21 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:00:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:00:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:00:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.25s (batch: 5.64s, save: 11.60s)	[pipeline.py: 300]
+05/09 21:00:03 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.67s:
+  episode_total: mean=223.19s, total=223.19s, count=1, min=223187.0ms, max=223187.0ms
+  sensor_polling: mean=499.4ms, total=149.83s, count=300, min=456.7ms, max=893.8ms
+  save_trajectories: mean=11.60s, total=11.60s, count=1, min=11604.6ms, max=11604.6ms
+  physics_step: mean=23.6ms, total=7.09s, count=300, min=19.4ms, max=38.2ms
+  save_batch_prep: mean=5.64s, total=5.64s, count=1, min=5642.7ms, max=5642.7ms
+  task_sampling: mean=671.5ms, total=671.5ms, count=1, min=671.5ms, max=671.5ms
+  task_specific_sample: mean=667.5ms, total=667.5ms, count=1, min=667.5ms, max=667.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=433.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:00:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:00:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:00:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:00:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:00:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:00:04 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:00:04 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:00:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:00:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026763m	[env.py: 870]
+05/09 21:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:00:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04515832  0.47147452  0.02676332] yaw=-171.1deg	[env.py: 1019]
+05/09 21:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87232479  0.67710317  0.02676332] yaw=-162.6deg	[env.py: 1019]
+05/09 21:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87085217  0.13699281  0.02676332] yaw=154.8deg	[env.py: 1019]
+05/09 21:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:00:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.2ms, total=165.3ms	[env.py: 1075]
+05/09 21:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.045, 0.471, 0.027)	[env.py: 1079]
+05/09 21:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.1 deg	[env.py: 1082]
+05/09 21:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.761m	[env.py: 1086]
+05/09 21:00:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:00:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:00:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:00:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:00:05 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 21:00:05 INFO: [Worker 0] Worker 0 house 1 episode 22/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:00:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:00:05 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 21:00:05 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:00:05 INFO: [Worker 0] Collision-checked 388 grasps in 0.125s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:00:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.538s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:00:06 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.359[m] 81.457[deg]	[grasp_sample.py: 539]
+05/09 21:00:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:00:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:00:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:00:15 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:00:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 21:00:15 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
+05/09 21:00:23 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:00:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 21:00:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 21:00:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:00:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:00:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.65s (batch: 4.57s, save: 11.07s)	[pipeline.py: 300]
+05/09 21:00:31 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.84s:
+  episode_total: mean=186.15s, total=372.30s, count=2, min=177805.2ms, max=194494.8ms
+  sensor_polling: mean=510.9ms, total=290.71s, count=569, min=452.7ms, max=1006.8ms
+  physics_step: mean=26.2ms, total=14.90s, count=569, min=18.2ms, max=63.1ms
+  save_trajectories: mean=11.07s, total=11.07s, count=1, min=11074.6ms, max=11074.6ms
+  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4574.6ms, max=4574.6ms
+  task_sampling: mean=421.1ms, total=842.2ms, count=2, min=380.7ms, max=461.5ms
+  task_specific_sample: mean=417.3ms, total=834.5ms, count=2, min=377.4ms, max=457.1ms
+  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.4ms, max=3.0ms
+  mj_forward_sync: mean=448.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.8us, 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 21:00:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:00:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:00:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:00:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:00:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:00:33 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:00:33 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 21:00:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:00:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017024m	[env.py: 870]
+05/09 21:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:00:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1187171   1.08212147  0.01702429] yaw=-132.3deg	[env.py: 1019]
+05/09 21:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05382122  0.58688968  0.01702429] yaw=-173.7deg	[env.py: 1019]
+05/09 21:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.06369828  0.59227616  0.01702429] yaw=-167.6deg	[env.py: 1019]
+05/09 21:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:00:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.6ms, total=196.6ms	[env.py: 1075]
+05/09 21:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.119, 1.082, 0.017)	[env.py: 1079]
+05/09 21:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.3 deg	[env.py: 1082]
+05/09 21:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
+05/09 21:00:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:00:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:00:34 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 21:00:34 INFO: [Worker 0] Worker 0 house 1 episode 22/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:00:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:00:34 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 21:00:34 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:00:34 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:00:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.729s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:00:36 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.582[m] 81.807[deg]	[grasp_sample.py: 539]
+05/09 21:00:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:00:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:00:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:00:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:00:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:00:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.03s (batch: 5.18s, save: 10.85s)	[pipeline.py: 300]
+05/09 21:00:40 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.54s:
+  episode_total: mean=219.57s, total=219.57s, count=1, min=219574.8ms, max=219574.8ms
+  sensor_polling: mean=538.6ms, total=161.57s, count=300, min=460.6ms, max=875.8ms
+  save_trajectories: mean=10.85s, total=10.85s, count=1, min=10850.2ms, max=10850.2ms
+  physics_step: mean=28.2ms, total=8.46s, count=300, min=20.4ms, max=66.7ms
+  save_batch_prep: mean=5.18s, total=5.18s, count=1, min=5176.3ms, max=5176.3ms
+  task_sampling: mean=540.8ms, total=540.8ms, count=1, min=540.8ms, max=540.8ms
+  task_specific_sample: mean=536.3ms, total=536.3ms, count=1, min=536.3ms, max=536.3ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=460.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:00:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:00:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:00:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:00:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:00:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:00:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:00:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:00:42 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:00:42 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 21:00:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:00:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013091m	[env.py: 870]
+05/09 21:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:00:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03373541  0.85174266 -0.01309112] yaw=-157.5deg	[env.py: 1019]
+05/09 21:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81558274  0.54578911 -0.01309112] yaw=-180.9deg	[env.py: 1019]
+05/09 21:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.17341216  0.81903893 -0.01309112] yaw=-147.3deg	[env.py: 1019]
+05/09 21:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:00:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.1ms, total=170.2ms	[env.py: 1075]
+05/09 21:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.034, 0.852, -0.013)	[env.py: 1079]
+05/09 21:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.5 deg	[env.py: 1082]
+05/09 21:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m	[env.py: 1086]
+05/09 21:00:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:00:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:00:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:00:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:00:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 21:00:42 INFO: [Worker 0] Worker 0 house 1 episode 22/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:00:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:00:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:00:42 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:00:42 INFO: [Worker 0] Collision-checked 388 grasps in 0.090s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:00:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.532s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:00:43 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.473[m] 84.386[deg]	[grasp_sample.py: 539]
+05/09 21:00:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:00:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:00:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:00:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:00:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:01:01 INFO: [Worker 0] Worker 0 house 1 episode 22 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:01:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:01:23 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:01:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 21:01:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 21:01:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:01:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:01:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:01:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:01:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.92s (batch: 4.52s, save: 9.40s)	[pipeline.py: 300]
+05/09 21:01:38 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.51s:
+  episode_total: mean=212.58s, total=212.58s, count=1, min=212582.3ms, max=212582.3ms
+  sensor_polling: mean=535.3ms, total=160.59s, count=300, min=449.8ms, max=950.2ms
+  save_trajectories: mean=9.40s, total=9.40s, count=1, min=9404.0ms, max=9404.0ms
+  physics_step: mean=28.9ms, total=8.66s, count=300, min=16.5ms, max=101.6ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4517.2ms, max=4517.2ms
+  task_sampling: mean=508.3ms, total=508.3ms, count=1, min=508.3ms, max=508.3ms
+  task_specific_sample: mean=504.2ms, total=504.2ms, count=1, min=504.2ms, max=504.2ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=444.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:01:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:01:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:01:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:01:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:01:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:01:39 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:01:39 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 21:01:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:01:39 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 21:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028481m	[env.py: 870]
+05/09 21:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:01:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93770486  0.25171455 -0.02848051] yaw=174.0deg	[env.py: 1019]
+05/09 21:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.03051773  0.75618103 -0.02848051] yaw=-149.0deg	[env.py: 1019]
+05/09 21:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.05544897  1.01044021 -0.02848051] yaw=-137.1deg	[env.py: 1019]
+05/09 21:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:01:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=333.3ms, total=333.3ms	[env.py: 1075]
+05/09 21:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.252, -0.028)	[env.py: 1079]
+05/09 21:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.0 deg	[env.py: 1082]
+05/09 21:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m	[env.py: 1086]
+05/09 21:01:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:01:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:01:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:01:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:01:40 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 21:01:40 INFO: [Worker 0] Worker 0 house 1 episode 23/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:01:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:01:40 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 21:01:40 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:01:40 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:01:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.558s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:01:41 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.536[m] 91.984[deg]	[grasp_sample.py: 539]
+05/09 21:01:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:01:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:01:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:01:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:01:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:01:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:01:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:02:44 INFO: [Worker 0] Worker 0 house 1 episode 22 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:02:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:02:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:03:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:03:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:03:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:03:10 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:03:10 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 21:03:10 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/09 21:03:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:03:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:03:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:03:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:03:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:03:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:03:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 21:03:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 21:03:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:03:20 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:03:20 INFO: [Worker 0] Collision-checked 388 grasps in 0.078s, found 338 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:03:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.828s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:03:22 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.088[m] 4.931[deg]	[grasp_sample.py: 539]
+05/09 21:03:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:03:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:03:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:03:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:03:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:03:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.47s (batch: 4.76s, save: 8.72s)	[pipeline.py: 300]
+05/09 21:03:25 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.52s:
+  episode_total: mean=200.25s, total=200.25s, count=1, min=200246.9ms, max=200246.9ms
+  sensor_polling: mean=535.2ms, total=142.36s, count=266, min=466.0ms, max=1021.7ms
+  save_trajectories: mean=8.72s, total=8.72s, count=1, min=8716.7ms, max=8716.7ms
+  physics_step: mean=27.4ms, total=7.30s, count=266, min=16.7ms, max=85.3ms
+  save_batch_prep: mean=4.76s, total=4.76s, count=1, min=4756.7ms, max=4756.7ms
+  task_sampling: mean=523.3ms, total=523.3ms, count=1, min=523.3ms, max=523.3ms
+  task_specific_sample: mean=519.1ms, total=519.1ms, count=1, min=519.1ms, max=519.1ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=439.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:03:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:03:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:03:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:03:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:03:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:03:26 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:03:26 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:03:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:03:26 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 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025392m	[env.py: 870]
+05/09 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:03:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.12777757  0.11750606 -0.02539151] yaw=155.2deg	[env.py: 1019]
+05/09 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.200994    0.78170898 -0.02539151] yaw=-142.2deg	[env.py: 1019]
+05/09 21:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.24696715  1.08911537 -0.02539151] yaw=-130.3deg	[env.py: 1019]
+05/09 21:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:03:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.5ms, total=174.6ms	[env.py: 1075]
+05/09 21:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.128, 0.118, -0.025)	[env.py: 1079]
+05/09 21:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.2 deg	[env.py: 1082]
+05/09 21:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.743m	[env.py: 1086]
+05/09 21:03:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:03:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:03:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:03:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:03:27 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 21:03:27 INFO: [Worker 0] Worker 0 house 1 episode 23/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:03:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:03:27 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 21:03:27 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:03:27 INFO: [Worker 0] Collision-checked 388 grasps in 0.091s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:03:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.551s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:03:28 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.431[m] 86.407[deg]	[grasp_sample.py: 539]
+05/09 21:03:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:03:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:03:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:03:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:03:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:03:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:03:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:03:41 INFO: [Worker 0] Worker 0 house 1 episode 22 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:03:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:03:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:03:47 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/09 21:03:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 21:03:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:03:47 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:03:47 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 352 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:03:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.877s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:03:49 INFO: [Worker 0] Feasible grasp found 197 (originally 3): w/ 0.125[m] 75.477[deg]	[grasp_sample.py: 539]
+05/09 21:03:50 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/09 21:03:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:03:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:03:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:03:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:03:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:03:52 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:03:52 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 21:03:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:03:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003378m	[env.py: 870]
+05/09 21:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:03:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.01961924  0.15884155 -0.00337774] yaw=170.8deg	[env.py: 1019]
+05/09 21:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.24117172  0.95991598 -0.00337774] yaw=-127.5deg	[env.py: 1019]
+05/09 21:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:03:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=271.1ms, total=271.1ms	[env.py: 1075]
+05/09 21:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.159, -0.003)	[env.py: 1079]
+05/09 21:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.8 deg	[env.py: 1082]
+05/09 21:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m	[env.py: 1086]
+05/09 21:03:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:03:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:03:52 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/09 21:03:52 INFO: [Worker 0] Worker 0 house 1 episode 23/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:03:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:03:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:03:52 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:03:53 INFO: [Worker 0] Collision-checked 388 grasps in 0.081s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:03:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.536s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:03:53 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.480[m] 91.511[deg]	[grasp_sample.py: 539]
+05/09 21:03:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:03:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:03:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:04:08 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:04:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 21:04:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 21:04:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:04:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:04:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:04:23 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.00s (batch: 5.50s, save: 9.50s)	[pipeline.py: 300]
+05/09 21:04:23 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.49s:
+  episode_total: mean=230.26s, total=230.26s, count=1, min=230259.2ms, max=230259.2ms
+  sensor_polling: mean=533.0ms, total=159.91s, count=300, min=455.8ms, max=924.1ms
+  save_trajectories: mean=9.50s, total=9.50s, count=1, min=9501.1ms, max=9501.1ms
+  physics_step: mean=27.5ms, total=8.26s, count=300, min=16.6ms, max=115.3ms
+  save_batch_prep: mean=5.50s, total=5.50s, count=1, min=5500.2ms, max=5500.2ms
+  task_sampling: mean=492.9ms, total=492.9ms, count=1, min=492.9ms, max=492.9ms
+  task_specific_sample: mean=489.0ms, total=489.0ms, count=1, min=489.0ms, max=489.0ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=408.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:04:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:04:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:04:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:04:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:04:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:04:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:04:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:04:25 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:04:25 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:04:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:04:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040788m	[env.py: 870]
+05/09 21:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:04:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12519993  0.70821661 -0.0407881 ] yaw=-161.2deg	[env.py: 1019]
+05/09 21:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.25179814  1.10315617 -0.0407881 ] yaw=-134.4deg	[env.py: 1019]
+05/09 21:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.18737989  0.83578684 -0.0407881 ] yaw=-150.6deg	[env.py: 1019]
+05/09 21:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:04:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.7ms, total=134.7ms	[env.py: 1075]
+05/09 21:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.125, 0.708, -0.041)	[env.py: 1079]
+05/09 21:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.2 deg	[env.py: 1082]
+05/09 21:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.736m	[env.py: 1086]
+05/09 21:04:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:04:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:04:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:04:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:04:26 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 21:04:26 INFO: [Worker 0] Worker 0 house 1 episode 23/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:04:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:04:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:04:26 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:04:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:04:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.455s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:04:26 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.377[m] 83.569[deg]	[grasp_sample.py: 539]
+05/09 21:04:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:04:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:04:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:04:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:04:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:04:39 INFO: [Worker 0] Worker 0 house 1 episode 23 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:04:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:04:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:05:00 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:05:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 21:05:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 21:05:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:05:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:05:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:05:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:05:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.66s (batch: 4.58s, save: 10.08s)	[pipeline.py: 300]
+05/09 21:05:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:05:16 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.66s:
+  episode_total: mean=216.41s, total=216.41s, count=1, min=216406.0ms, max=216406.0ms
+  sensor_polling: mean=550.8ms, total=165.25s, count=300, min=459.6ms, max=1085.2ms
+  save_trajectories: mean=10.08s, total=10.08s, count=1, min=10080.4ms, max=10080.4ms
+  physics_step: mean=28.1ms, total=8.43s, count=300, min=16.7ms, max=133.0ms
+  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4583.1ms, max=4583.1ms
+  task_sampling: mean=663.1ms, total=663.1ms, count=1, min=663.1ms, max=663.1ms
+  task_specific_sample: mean=658.9ms, total=658.9ms, count=1, min=658.9ms, max=658.9ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=464.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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 21:05:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:05:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:05:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:05:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:05:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:05:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:05:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:05:18 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:05:18 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:05:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:05:18 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 21:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031092m	[env.py: 870]
+05/09 21:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:05:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92230619  0.4788585  -0.03109247] yaw=-176.2deg	[env.py: 1019]
+05/09 21:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08296026  0.5710608  -0.03109247] yaw=-162.0deg	[env.py: 1019]
+05/09 21:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.94488028  0.58463559 -0.03109247] yaw=-180.6deg	[env.py: 1019]
+05/09 21:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:05:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=300.6ms, total=300.6ms	[env.py: 1075]
+05/09 21:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.922, 0.479, -0.031)	[env.py: 1079]
+05/09 21:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.2 deg	[env.py: 1082]
+05/09 21:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m	[env.py: 1086]
+05/09 21:05:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:05:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:05:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:05:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:05:19 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 21:05:19 INFO: [Worker 0] Worker 0 house 1 episode 24/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:05:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:05:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:05:19 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:05:19 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:05:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.593s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:05:19 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.528[m] 90.063[deg]	[grasp_sample.py: 539]
+05/09 21:05:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:05:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:05:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:05:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:06:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:06:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:06:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:06:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:06:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:06:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:06:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:06:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:06:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:06:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 21:06:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 21:06:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:06:26 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:06:27 INFO: [Worker 0] Collision-checked 388 grasps in 0.097s, found 318 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:06:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.320s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:06:29 INFO: [Worker 0] Feasible grasp found 346 (originally 152): w/ 0.100[m] 0.137[deg]	[grasp_sample.py: 539]
+05/09 21:06:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:06:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:06:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:06:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:06:39 INFO: [Worker 0] Worker 0 house 1 episode 23 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:06:41 INFO: [Worker 0] Worker 0 house 1 episode 23 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:06:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:07:06 INFO: [Worker 0] Worker 0 house 1 episode 23 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:07:07 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:07:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 21:07:07 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/09 21:07:10 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:07:10 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 21:07:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 21:07:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:07:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:07:21 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.91s (batch: 4.51s, save: 10.40s)	[pipeline.py: 300]
+05/09 21:07:22 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=1.09s:
+  episode_total: mean=199.49s, total=398.97s, count=2, min=188442.5ms, max=210532.0ms
+  sensor_polling: mean=526.2ms, total=303.09s, count=576, min=460.2ms, max=1015.2ms
+  physics_step: mean=29.2ms, total=16.84s, count=576, min=20.0ms, max=133.0ms
+  save_trajectories: mean=10.40s, total=10.40s, count=1, min=10400.8ms, max=10400.8ms
+  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4509.4ms, max=4509.4ms
+  task_sampling: mean=543.0ms, total=1.09s, count=2, min=519.0ms, max=567.0ms
+  task_specific_sample: mean=538.6ms, total=1.08s, count=2, min=514.2ms, max=563.0ms
+  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=1.8ms, max=3.1ms
+  mj_forward_sync: mean=635.6us, total=1.3ms, count=2, min=0.6ms, max=0.7ms
+  policy_setup: mean=15.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:07:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:07:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:07:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:07:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:07:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:07:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:07:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:07:24 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:07:24 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]
+05/09 21:07:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:07:24 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 21:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020063m	[env.py: 870]
+05/09 21:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:07:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10364545  1.08097217 -0.02006287] yaw=-137.5deg	[env.py: 1019]
+05/09 21:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0161623   0.06264301 -0.02006287] yaw=163.8deg	[env.py: 1019]
+05/09 21:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01501791  0.37780588 -0.02006287] yaw=179.4deg	[env.py: 1019]
+05/09 21:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:07:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.4ms, total=173.5ms	[env.py: 1075]
+05/09 21:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.104, 1.081, -0.020)	[env.py: 1079]
+05/09 21:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.5 deg	[env.py: 1082]
+05/09 21:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m	[env.py: 1086]
+05/09 21:07:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:07:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:07:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:07:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:07:25 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 21:07:25 INFO: [Worker 0] Worker 0 house 1 episode 24/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:07:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:07:25 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 21:07:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:07:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.111s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:07:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:07:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:07:26 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.93s (batch: 4.40s, save: 11.52s)	[pipeline.py: 300]
+05/09 21:07:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.741s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:07:27 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.624[m] 91.466[deg]	[grasp_sample.py: 539]
+05/09 21:07:27 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.52s:
+  episode_total: mean=240.32s, total=240.32s, count=1, min=240323.5ms, max=240323.5ms
+  sensor_polling: mean=546.5ms, total=163.96s, count=300, min=471.0ms, max=993.6ms
+  save_trajectories: mean=11.52s, total=11.52s, count=1, min=11522.4ms, max=11522.4ms
+  physics_step: mean=27.4ms, total=8.22s, count=300, min=17.0ms, max=96.4ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4403.5ms, max=4403.5ms
+  task_sampling: mean=518.8ms, total=518.8ms, count=1, min=518.8ms, max=518.8ms
+  task_specific_sample: mean=514.0ms, total=514.0ms, count=1, min=514.0ms, max=514.0ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=584.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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 21:07:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:07:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:07:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:07:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:07:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:07:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:07:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:07:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:07:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:07:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:07:28 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:07:28 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]
+05/09 21:07:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:07:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046063m	[env.py: 870]
+05/09 21:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:07:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03416965  0.72161587 -0.04606258] yaw=-152.3deg	[env.py: 1019]
+05/09 21:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02325544  0.39929723 -0.04606258] yaw=181.5deg	[env.py: 1019]
+05/09 21:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.33145425  0.9812987  -0.04606258] yaw=-125.2deg	[env.py: 1019]
+05/09 21:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:07:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.8ms, total=129.8ms	[env.py: 1075]
+05/09 21:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.034, 0.722, -0.046)	[env.py: 1079]
+05/09 21:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.3 deg	[env.py: 1082]
+05/09 21:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/09 21:07:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:07:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:07:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:07:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:07:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 21:07:29 INFO: [Worker 0] Worker 0 house 1 episode 24/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:07:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:07:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:07:29 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:07:29 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:07:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.497s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:07:30 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.484[m] 85.866[deg]	[grasp_sample.py: 539]
+05/09 21:07:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:07:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:07:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:07:32 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:07:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 21:07:32 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
+05/09 21:07:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:07:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:07:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.97s (batch: 4.29s, save: 8.67s)	[pipeline.py: 300]
+05/09 21:07:45 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.46s:
+  episode_total: mean=200.12s, total=200.12s, count=1, min=200116.8ms, max=200116.8ms
+  sensor_polling: mean=541.7ms, total=147.34s, count=272, min=454.6ms, max=1034.8ms
+  save_trajectories: mean=8.67s, total=8.67s, count=1, min=8674.4ms, max=8674.4ms
+  physics_step: mean=31.4ms, total=8.54s, count=272, min=17.4ms, max=131.2ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4291.0ms, max=4291.0ms
+  task_sampling: mean=460.1ms, total=460.1ms, count=1, min=460.1ms, max=460.1ms
+  task_specific_sample: mean=456.1ms, total=456.1ms, count=1, min=456.1ms, max=456.1ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=452.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:07:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:07:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:07:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:07:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:07:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:07:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:07:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:07:47 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:07:47 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:07:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:07:47 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]
+05/09 21:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013627m	[env.py: 870]
+05/09 21:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:07:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.3183436   1.02714391  0.01362678] yaw=-119.2deg	[env.py: 1019]
+05/09 21:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88225835  0.32323648  0.01362678] yaw=181.0deg	[env.py: 1019]
+05/09 21:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95922394  0.93863606  0.01362678] yaw=-150.0deg	[env.py: 1019]
+05/09 21:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:07:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.2ms, total=98.2ms	[env.py: 1075]
+05/09 21:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.318, 1.027, 0.014)	[env.py: 1079]
+05/09 21:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.2 deg	[env.py: 1082]
+05/09 21:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.774m	[env.py: 1086]
+05/09 21:07:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:07:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:07:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:07:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:07:47 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 21:07:47 INFO: [Worker 0] Worker 0 house 1 episode 24/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:07:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:07:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:07:47 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:07:47 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:07:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.472s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:07:48 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.450[m] 95.088[deg]	[grasp_sample.py: 539]
+05/09 21:07:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:07:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:07:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:08:15 INFO: [Worker 0] Worker 0 house 1 episode 24 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:08:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:08:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:08:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:08:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:08:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:08:39 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:08:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 21:08:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 21:08:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:08:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:08:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:08:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:08:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:08:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:08:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.75s (batch: 4.58s, save: 11.18s)	[pipeline.py: 300]
+05/09 21:08:56 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.88s:
+  episode_total: mean=218.09s, total=218.09s, count=1, min=218087.7ms, max=218087.7ms
+  sensor_polling: mean=541.8ms, total=162.53s, count=300, min=455.2ms, max=1093.2ms
+  save_trajectories: mean=11.18s, total=11.18s, count=1, min=11176.6ms, max=11176.6ms
+  physics_step: mean=28.4ms, total=8.52s, count=300, min=17.5ms, max=100.8ms
+  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4578.2ms, max=4578.2ms
+  task_sampling: mean=879.5ms, total=879.5ms, count=1, min=879.5ms, max=879.5ms
+  task_specific_sample: mean=874.8ms, total=874.8ms, count=1, min=874.8ms, max=874.8ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=583.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:08:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:08:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:08:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:08:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:08:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:08:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:08:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:08:58 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:08:58 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 21:08:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:08:58 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 21:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012956m	[env.py: 870]
+05/09 21:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:08:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08308953  1.02393393  0.01295641] yaw=-131.2deg	[env.py: 1019]
+05/09 21:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04844153  0.52832351  0.01295641] yaw=-175.1deg	[env.py: 1019]
+05/09 21:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.93525602  0.34079863  0.01295641] yaw=166.1deg	[env.py: 1019]
+05/09 21:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:08:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=425.9ms, total=425.9ms	[env.py: 1075]
+05/09 21:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.083, 1.024, 0.013)	[env.py: 1079]
+05/09 21:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.2 deg	[env.py: 1082]
+05/09 21:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
+05/09 21:08:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:08:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:08:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:08:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:08:59 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 21:08:59 INFO: [Worker 0] Worker 0 house 1 episode 25/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:08:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.162s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:08:59 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 21:08:59 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:08:59 INFO: [Worker 0] Collision-checked 388 grasps in 0.142s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:09:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.857s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:09:01 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.581[m] 88.712[deg]	[grasp_sample.py: 539]
+05/09 21:09:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:09:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:09:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:09:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:09:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:09:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:10:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:10:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:10:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:10:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:10:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:10:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:10:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 21:10:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 21:10:15 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 21:10:15 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:10:15 INFO: [Worker 0] Collision-checked 388 grasps in 0.119s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:10:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.849s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:10:17 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.141[m] 11.077[deg]	[grasp_sample.py: 539]
+05/09 21:10:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:10:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:10:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:10:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:10:22 INFO: [Worker 0] Worker 0 house 1 episode 24 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:10:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:10:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:10:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:10:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:10:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:10:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:10:39 INFO: [Worker 0] Worker 0 house 1 episode 24 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:10:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:10:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:10:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:10:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:10:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 21:10:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 21:10:46 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 21:10:46 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:10:46 INFO: [Worker 0] Collision-checked 388 grasps in 0.093s, found 324 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:10:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.649s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:10:47 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.046[m] 0.419[deg]	[grasp_sample.py: 539]
+05/09 21:10:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:10:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:10:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:10:49 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:10:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 21:10:49 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/09 21:10:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:10:56 INFO: [Worker 0] Worker 0 house 1 episode 24 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:11:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:11:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:11:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.83s (batch: 4.61s, save: 9.22s)	[pipeline.py: 300]
+05/09 21:11:03 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:11:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 21:11:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 21:11:03 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.45s:
+  episode_total: mean=214.89s, total=214.89s, count=1, min=214890.2ms, max=214890.2ms
+  sensor_polling: mean=545.6ms, total=160.41s, count=294, min=456.7ms, max=1036.7ms
+  save_trajectories: mean=9.22s, total=9.22s, count=1, min=9220.5ms, max=9220.5ms
+  physics_step: mean=28.8ms, total=8.47s, count=294, min=16.8ms, max=123.5ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4609.2ms, max=4609.2ms
+  task_sampling: mean=448.7ms, total=448.7ms, count=1, min=448.7ms, max=448.7ms
+  task_specific_sample: mean=444.5ms, total=444.5ms, count=1, min=444.5ms, max=444.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=448.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:11:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:11:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:11:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:11:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:11:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:11:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:11:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:11:05 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:11:05 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 21:11:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:11:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031219m	[env.py: 870]
+05/09 21:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:11:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07700762  0.53521577  0.03121891] yaw=-181.5deg	[env.py: 1019]
+05/09 21:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97218296  0.2186281   0.03121891] yaw=176.6deg	[env.py: 1019]
+05/09 21:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.14145682  0.08889242  0.03121891] yaw=146.7deg	[env.py: 1019]
+05/09 21:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:11:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.7ms, total=196.7ms	[env.py: 1075]
+05/09 21:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.077, 0.535, 0.031)	[env.py: 1079]
+05/09 21:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.5 deg	[env.py: 1082]
+05/09 21:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.736m	[env.py: 1086]
+05/09 21:11:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:11:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:11:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:11:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:11:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 21:11:06 INFO: [Worker 0] Worker 0 house 1 episode 25/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:11:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:11:06 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 21:11:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:11:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:11:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.455s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:11:06 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.394[m] 86.969[deg]	[grasp_sample.py: 539]
+05/09 21:11:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:11:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:11:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:11:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:11:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:11:17 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.03s (batch: 4.59s, save: 9.44s)	[pipeline.py: 300]
+05/09 21:11:18 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.50s:
+  episode_total: mean=233.50s, total=233.50s, count=1, min=233498.9ms, max=233498.9ms
+  sensor_polling: mean=538.7ms, total=161.60s, count=300, min=451.4ms, max=941.9ms
+  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9442.9ms, max=9442.9ms
+  physics_step: mean=29.3ms, total=8.80s, count=300, min=17.2ms, max=135.3ms
+  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4589.7ms, max=4589.7ms
+  task_sampling: mean=501.6ms, total=501.6ms, count=1, min=501.6ms, max=501.6ms
+  task_specific_sample: mean=497.6ms, total=497.6ms, count=1, min=497.6ms, max=497.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=406.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:11:19 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:11:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 21:11:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 21:11:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:11:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:11:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:11:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:11:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:11:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:11:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:11:19 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:11:19 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:11:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:11:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045338m	[env.py: 870]
+05/09 21:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:11:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91150886  0.35812674  0.04533813] yaw=180.4deg	[env.py: 1019]
+05/09 21:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88344777  0.50770207  0.04533813] yaw=-181.1deg	[env.py: 1019]
+05/09 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.159786    0.78836308  0.04533813] yaw=-145.4deg	[env.py: 1019]
+05/09 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:11:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.4ms, total=139.4ms	[env.py: 1075]
+05/09 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.912, 0.358, 0.045)	[env.py: 1079]
+05/09 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.4 deg	[env.py: 1082]
+05/09 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
+05/09 21:11:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:11:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:11:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:11:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:11:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 21:11:20 INFO: [Worker 0] Worker 0 house 1 episode 25/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:11:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:11:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:11:20 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:11:20 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:11:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.630s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:11:21 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.571[m] 99.005[deg]	[grasp_sample.py: 539]
+05/09 21:11:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:11:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:11:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:11:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:11:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:11:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.66s (batch: 4.60s, save: 9.07s)	[pipeline.py: 300]
+05/09 21:11:34 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.40s:
+  episode_total: mean=226.69s, total=226.69s, count=1, min=226688.8ms, max=226688.8ms
+  sensor_polling: mean=536.0ms, total=160.79s, count=300, min=453.9ms, max=1013.1ms
+  save_trajectories: mean=9.07s, total=9.07s, count=1, min=9067.3ms, max=9067.3ms
+  physics_step: mean=28.3ms, total=8.49s, count=300, min=17.4ms, max=122.7ms
+  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4596.1ms, max=4596.1ms
+  task_sampling: mean=395.2ms, total=395.2ms, count=1, min=395.2ms, max=395.2ms
+  task_specific_sample: mean=391.2ms, total=391.2ms, count=1, min=391.2ms, max=391.2ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=443.3us, 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]
+05/09 21:11:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:11:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:11:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:11:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:11:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:11:35 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:11:35 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 21:11:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:11:35 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 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032437m	[env.py: 870]
+05/09 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:11:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.13602065  0.88988798  0.0324366 ] yaw=-150.7deg	[env.py: 1019]
+05/09 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.11799344  0.83249033  0.0324366 ] yaw=-139.8deg	[env.py: 1019]
+05/09 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84078965  0.27798969  0.0324366 ] yaw=178.6deg	[env.py: 1019]
+05/09 21:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:11:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.0ms, total=164.0ms	[env.py: 1075]
+05/09 21:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.136, 0.890, 0.032)	[env.py: 1079]
+05/09 21:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.7 deg	[env.py: 1082]
+05/09 21:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/09 21:11:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:11:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:11:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:11:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:11:36 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 21:11:36 INFO: [Worker 0] Worker 0 house 1 episode 25/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:11:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:11:36 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 21:11:36 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:11:36 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:11:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.506s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:11:37 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.445[m] 88.678[deg]	[grasp_sample.py: 539]
+05/09 21:11:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:11:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:11:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:11:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:11:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:11:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:11:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:11:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:11:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:11:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:11:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:11:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:12:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:12:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 21:12:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 21:12:01 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 21:12:01 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:12:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.091s, found 322 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:12:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.822s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:12:03 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.084[m] 0.495[deg]	[grasp_sample.py: 539]
+05/09 21:12:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:12:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:12:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:12:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:12:05 INFO: [Worker 0] Worker 0 house 1 episode 25 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:12:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:12:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:12:33 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:12:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 21:12:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 21:12:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:12:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:12:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:12:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:12:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:12:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:12:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.94s (batch: 4.92s, save: 13.02s)	[pipeline.py: 300]
+05/09 21:12:52 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.82s:
+  episode_total: mean=234.41s, total=234.41s, count=1, min=234408.1ms, max=234408.1ms
+  sensor_polling: mean=530.4ms, total=159.11s, count=300, min=441.0ms, max=893.8ms
+  save_trajectories: mean=13.02s, total=13.02s, count=1, min=13025.0ms, max=13025.0ms
+  physics_step: mean=28.2ms, total=8.46s, count=300, min=16.9ms, max=116.7ms
+  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4919.3ms, max=4919.3ms
+  task_sampling: mean=824.8ms, total=824.8ms, count=1, min=824.8ms, max=824.8ms
+  task_specific_sample: mean=813.2ms, total=813.2ms, count=1, min=813.2ms, max=813.2ms
+  scene_randomize: mean=5.9ms, total=5.9ms, count=1, min=5.9ms, max=5.9ms
+  mj_forward_sync: mean=556.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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]
+05/09 21:12:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:12:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:12:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:12:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:12:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:12:54 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:12:54 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:12:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:12:54 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 21:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025848m	[env.py: 870]
+05/09 21:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:12:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07272507  0.61478463  0.0258482 ] yaw=-171.6deg	[env.py: 1019]
+05/09 21:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.0087542   0.84680948  0.0258482 ] yaw=-160.0deg	[env.py: 1019]
+05/09 21:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96920686  0.35017908  0.0258482 ] yaw=165.9deg	[env.py: 1019]
+05/09 21:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:12:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=279.6ms, total=279.6ms	[env.py: 1075]
+05/09 21:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.073, 0.615, 0.026)	[env.py: 1079]
+05/09 21:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.6 deg	[env.py: 1082]
+05/09 21:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
+05/09 21:12:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:12:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:12:55 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 21:12:55 INFO: [Worker 0] Worker 0 house 1 episode 26/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:12:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:12:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:12:55 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:12:55 INFO: [Worker 0] Collision-checked 388 grasps in 0.065s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:12:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.477s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:12:55 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.441[m] 98.694[deg]	[grasp_sample.py: 539]
+05/09 21:12:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:12:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:12:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:13:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:13:57 INFO: [Worker 0] Worker 0 house 1 episode 25 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:14:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:14:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:14:18 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:14:18 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 21:14:18 INFO: [Worker 0] Preparing episode data: 275 timesteps	[save_utils.py: 278]
+05/09 21:14:20 INFO: [Worker 0] Worker 0 house 1 episode 25 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:14:29 INFO: [Worker 0] Worker 0 house 1 episode 25 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:14:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:14:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:14:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.55s (batch: 4.40s, save: 8.15s)	[pipeline.py: 300]
+05/09 21:14:31 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.51s:
+  episode_total: mean=206.23s, total=206.23s, count=1, min=206229.7ms, max=206229.7ms
+  sensor_polling: mean=565.5ms, total=154.96s, count=274, min=455.8ms, max=1143.3ms
+  physics_step: mean=31.0ms, total=8.49s, count=274, min=18.2ms, max=130.5ms
+  save_trajectories: mean=8.15s, total=8.15s, count=1, min=8148.8ms, max=8148.8ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4401.5ms, max=4401.5ms
+  task_sampling: mean=505.5ms, total=505.5ms, count=1, min=505.5ms, max=505.5ms
+  task_specific_sample: mean=501.6ms, total=501.6ms, count=1, min=501.6ms, max=501.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=428.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:14:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:14:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:14:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:14:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:14:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:14:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:14:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:14:33 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:14:33 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 21:14:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:14:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041516m	[env.py: 870]
+05/09 21:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:14:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91012156  0.87272552 -0.04151601] yaw=-161.7deg	[env.py: 1019]
+05/09 21:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15465968  0.83617226 -0.04151601] yaw=-156.0deg	[env.py: 1019]
+05/09 21:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.09121265  0.46925795 -0.04151601] yaw=-187.1deg	[env.py: 1019]
+05/09 21:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:14:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=154.5ms, total=154.6ms	[env.py: 1075]
+05/09 21:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.873, -0.042)	[env.py: 1079]
+05/09 21:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.7 deg	[env.py: 1082]
+05/09 21:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m	[env.py: 1086]
+05/09 21:14:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:14:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:14:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:14:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:14:34 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 21:14:34 INFO: [Worker 0] Worker 0 house 1 episode 26/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:14:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:14:34 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 21:14:34 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:14:34 INFO: [Worker 0] Collision-checked 388 grasps in 0.094s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:14:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.412s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:14:35 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.619[m] 82.865[deg]	[grasp_sample.py: 539]
+05/09 21:14:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:14:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:14:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:14:42 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:14:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 21:14:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 21:14:52 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:14:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 21:14:52 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
+05/09 21:14:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:14:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:14:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.53s (batch: 4.56s, save: 8.96s)	[pipeline.py: 300]
+05/09 21:14:56 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.44s:
+  episode_total: mean=216.74s, total=216.74s, count=1, min=216738.3ms, max=216738.3ms
+  sensor_polling: mean=548.4ms, total=164.52s, count=300, min=458.9ms, max=1001.9ms
+  physics_step: mean=30.0ms, total=9.01s, count=300, min=18.2ms, max=127.5ms
+  save_trajectories: mean=8.96s, total=8.96s, count=1, min=8963.6ms, max=8963.6ms
+  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4564.7ms, max=4564.7ms
+  task_sampling: mean=440.5ms, total=440.5ms, count=1, min=440.5ms, max=440.5ms
+  task_specific_sample: mean=436.3ms, total=436.3ms, count=1, min=436.3ms, max=436.3ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=438.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:14:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:14:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:14:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:14:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:14:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:14:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:14:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:14:58 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:14:58 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 21:14:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:14:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:14:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:14:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:14:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034103m	[env.py: 870]
+05/09 21:14:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:14:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:14:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:14:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.27613606  1.04064202 -0.03410346] yaw=-122.0deg	[env.py: 1019]
+05/09 21:14:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:14:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92061868  0.52697758 -0.03410346] yaw=-181.9deg	[env.py: 1019]
+05/09 21:14:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:14:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:14:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03066304  0.7529275  -0.03410346] yaw=-166.7deg	[env.py: 1019]
+05/09 21:14:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:14:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:14:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=110.6ms, total=110.6ms	[env.py: 1075]
+05/09 21:14:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.276, 1.041, -0.034)	[env.py: 1079]
+05/09 21:14:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.0 deg	[env.py: 1082]
+05/09 21:14:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/09 21:14:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:14:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:14:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:14:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:14:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 21:14:58 INFO: [Worker 0] Worker 0 house 1 episode 26/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:14:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:14:58 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 21:14:58 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:14:58 INFO: [Worker 0] Collision-checked 388 grasps in 0.102s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:14:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.730s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:14:59 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.546[m] 91.663[deg]	[grasp_sample.py: 539]
+05/09 21:14:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:15:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:15:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:15:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:15:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:15:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.86s (batch: 4.28s, save: 9.59s)	[pipeline.py: 300]
+05/09 21:15:06 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.48s:
+  episode_total: mean=211.05s, total=211.05s, count=1, min=211047.7ms, max=211047.7ms
+  sensor_polling: mean=560.9ms, total=159.86s, count=285, min=451.6ms, max=1138.8ms
+  save_trajectories: mean=9.59s, total=9.59s, count=1, min=9586.3ms, max=9586.3ms
+  physics_step: mean=30.1ms, total=8.59s, count=285, min=19.5ms, max=107.9ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4277.6ms, max=4277.6ms
+  task_sampling: mean=484.3ms, total=484.3ms, count=1, min=484.3ms, max=484.3ms
+  task_specific_sample: mean=479.9ms, total=479.9ms, count=1, min=479.9ms, max=479.9ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=452.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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 21:15:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:15:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:15:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:15:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:15:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:15:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:15:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:15:09 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:15:09 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:15:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:15:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006146m	[env.py: 870]
+05/09 21:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:15:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9082659   0.28912236  0.00614602] yaw=170.0deg	[env.py: 1019]
+05/09 21:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.15465436  0.79213472  0.00614602] yaw=-160.4deg	[env.py: 1019]
+05/09 21:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.84459078  0.3246461   0.00614602] yaw=164.5deg	[env.py: 1019]
+05/09 21:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:15:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=509.4ms, total=509.4ms	[env.py: 1075]
+05/09 21:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.908, 0.289, 0.006)	[env.py: 1079]
+05/09 21:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.0 deg	[env.py: 1082]
+05/09 21:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
+05/09 21:15:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:15:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:15:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:15:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:15:09 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 21:15:09 INFO: [Worker 0] Worker 0 house 1 episode 26/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:15:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:15:09 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 21:15:09 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:15:10 INFO: [Worker 0] Collision-checked 388 grasps in 0.098s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:15:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.689s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:15:10 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.516[m] 85.259[deg]	[grasp_sample.py: 539]
+05/09 21:15:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:15:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:15:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:15:40 INFO: [Worker 0] Worker 0 house 1 episode 26 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:15:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:15:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:16:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:16:04 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:16:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 21:16:04 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/09 21:16:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:16:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:16:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:16:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:16:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:16:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.60s (batch: 5.47s, save: 11.13s)	[pipeline.py: 300]
+05/09 21:16:21 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.61s:
+  episode_total: mean=206.99s, total=206.99s, count=1, min=206992.5ms, max=206992.5ms
+  sensor_polling: mean=532.5ms, total=152.82s, count=287, min=458.3ms, max=931.3ms
+  save_trajectories: mean=11.13s, total=11.13s, count=1, min=11125.8ms, max=11125.8ms
+  physics_step: mean=27.2ms, total=7.79s, count=287, min=19.1ms, max=124.2ms
+  save_batch_prep: mean=5.47s, total=5.47s, count=1, min=5474.4ms, max=5474.4ms
+  task_sampling: mean=606.0ms, total=606.0ms, count=1, min=606.0ms, max=606.0ms
+  task_specific_sample: mean=601.8ms, total=601.8ms, count=1, min=601.8ms, max=601.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=422.9us, 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 21:16:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:16:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:16:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:16:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:16:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:16:23 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:16:23 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:16:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:16:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038690m	[env.py: 870]
+05/09 21:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:16:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00657714  0.46868471  0.03868996] yaw=-176.3deg	[env.py: 1019]
+05/09 21:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.10276183  0.75963258  0.03868996] yaw=-164.4deg	[env.py: 1019]
+05/09 21:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.15853043  1.12086661  0.03868996] yaw=-122.5deg	[env.py: 1019]
+05/09 21:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:16:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=287.9ms, total=287.9ms	[env.py: 1075]
+05/09 21:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.007, 0.469, 0.039)	[env.py: 1079]
+05/09 21:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.3 deg	[env.py: 1082]
+05/09 21:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.799m	[env.py: 1086]
+05/09 21:16:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:16:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:16:24 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 21:16:24 INFO: [Worker 0] Worker 0 house 1 episode 27/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:16:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:16:24 INFO: [Worker 0] 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 21:16:24 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:16:24 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:16:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.561s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:16:24 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.372[m] 83.261[deg]	[grasp_sample.py: 539]
+05/09 21:16:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:16:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:16:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:16:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:16:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:16:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:17:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:17:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:17:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:17:33 INFO: [Worker 0] Worker 0 house 1 episode 26 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:17:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:17:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:17:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:17:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:17:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:17:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:17:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:17:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:17:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 21:17:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 21:17:51 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 21:17:51 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:17:51 INFO: [Worker 0] Collision-checked 388 grasps in 0.086s, found 324 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:17:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.049s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:17:55 INFO: [Worker 0] Feasible grasp found 104 (originally 104): w/ 0.144[m] 3.247[deg]	[grasp_sample.py: 539]
+05/09 21:17:56 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:17:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 21:17:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 21:17:57 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/09 21:17:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:17:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:17:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:17:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:17:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:17:58 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:17:58 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 21:17:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:17:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045986m	[env.py: 870]
+05/09 21:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:17:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94019331  0.56962729 -0.04598602] yaw=-176.0deg	[env.py: 1019]
+05/09 21:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8223451   0.42597181 -0.04598602] yaw=-177.9deg	[env.py: 1019]
+05/09 21:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.2780292   1.07467533 -0.04598602] yaw=-120.3deg	[env.py: 1019]
+05/09 21:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:17:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.4ms, total=120.4ms	[env.py: 1075]
+05/09 21:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.570, -0.046)	[env.py: 1079]
+05/09 21:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.0 deg	[env.py: 1082]
+05/09 21:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
+05/09 21:17:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:17:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:17:59 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 21:17:59 INFO: [Worker 0] Worker 0 house 1 episode 27/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:17:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:17:59 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 21:17:59 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:17:59 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:17:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.469s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:17:59 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.511[m] 86.268[deg]	[grasp_sample.py: 539]
+05/09 21:17:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:18:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:18:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:18:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:18:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:18:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.39s (batch: 4.53s, save: 8.87s)	[pipeline.py: 300]
+05/09 21:18:10 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.56s:
+  episode_total: mean=217.07s, total=217.07s, count=1, min=217071.6ms, max=217071.6ms
+  sensor_polling: mean=551.2ms, total=165.35s, count=300, min=448.8ms, max=957.7ms
+  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8866.6ms, max=8866.6ms
+  physics_step: mean=29.2ms, total=8.77s, count=300, min=15.9ms, max=130.1ms
+  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4526.1ms, max=4526.1ms
+  task_sampling: mean=562.6ms, total=562.6ms, count=1, min=562.6ms, max=562.6ms
+  task_specific_sample: mean=557.2ms, total=557.2ms, count=1, min=557.2ms, max=557.2ms
+  scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  mj_forward_sync: mean=663.9us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  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 21:18:10 INFO: [Worker 0] Worker 0 house 1 episode 26 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:18:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:18:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:18:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:18:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:18:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:18:12 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:18:12 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:18:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:18:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037624m	[env.py: 870]
+05/09 21:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:18:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89058463  0.14667903  0.03762409] yaw=157.6deg	[env.py: 1019]
+05/09 21:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95718351  0.39040204  0.03762409] yaw=185.0deg	[env.py: 1019]
+05/09 21:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95947986  0.27477053  0.03762409] yaw=180.8deg	[env.py: 1019]
+05/09 21:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:18:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.8ms, total=132.8ms	[env.py: 1075]
+05/09 21:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.891, 0.147, 0.038)	[env.py: 1079]
+05/09 21:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.6 deg	[env.py: 1082]
+05/09 21:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
+05/09 21:18:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:18:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:18:12 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/09 21:18:12 INFO: [Worker 0] Worker 0 house 1 episode 27/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:18:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:18:12 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 21:18:12 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:18:13 INFO: [Worker 0] Collision-checked 388 grasps in 0.109s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:18:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.894s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:18:14 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.598[m] 94.963[deg]	[grasp_sample.py: 539]
+05/09 21:18:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:18:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:18:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:18:37 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:18:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 21:18:37 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/09 21:18:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:18:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:18:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.06s (batch: 4.84s, save: 10.22s)	[pipeline.py: 300]
+05/09 21:18:53 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.81s:
+  episode_total: mean=224.15s, total=224.15s, count=1, min=224151.5ms, max=224151.5ms
+  sensor_polling: mean=552.9ms, total=165.32s, count=299, min=466.8ms, max=1047.5ms
+  save_trajectories: mean=10.22s, total=10.22s, count=1, min=10217.8ms, max=10217.8ms
+  physics_step: mean=28.6ms, total=8.55s, count=299, min=16.2ms, max=111.5ms
+  save_batch_prep: mean=4.84s, total=4.84s, count=1, min=4839.7ms, max=4839.7ms
+  task_sampling: mean=810.6ms, total=810.6ms, count=1, min=810.6ms, max=810.6ms
+  task_specific_sample: mean=805.6ms, total=805.6ms, count=1, min=805.6ms, max=805.6ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=555.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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 21:18:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:18:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:18:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:18:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:18:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:18:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:18:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:18:55 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:18:55 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:18:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:18:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026976m	[env.py: 870]
+05/09 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:18:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88959717  0.1426751   0.02697622] yaw=159.9deg	[env.py: 1019]
+05/09 21:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:18:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=775.0ms, total=775.0ms	[env.py: 1075]
+05/09 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.890, 0.143, 0.027)	[env.py: 1079]
+05/09 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.9 deg	[env.py: 1082]
+05/09 21:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
+05/09 21:18:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:18:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:18:56 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 21:18:56 INFO: [Worker 0] Worker 0 house 1 episode 27/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:18:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:18:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:18:56 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:18:57 INFO: [Worker 0] Collision-checked 388 grasps in 0.118s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:18:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:19:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.865s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:19:00 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.599[m] 89.685[deg]	[grasp_sample.py: 539]
+05/09 21:19:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:19:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:19:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:19:03 INFO: [Worker 0] Worker 0 house 1 episode 27 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:19:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:19:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:19:28 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:19:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 21:19:28 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
+05/09 21:19:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:19:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:19:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:19:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:19:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.88s (batch: 5.47s, save: 10.41s)	[pipeline.py: 300]
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 df874f987fb961e2d288882d09552feee534888f..77a576daf5ead1d7c882c7b4ef126d7c218fce57 100644
--- a/fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5
+++ b/fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5
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diff --git a/fridge1_minimal_wall/trajectories_batch_2_of_4_cam_rand.h5 b/fridge1_minimal_wall/trajectories_batch_2_of_4_cam_rand.h5
index 66e88c7223df5c8ecb2b2a96080d70b4d1960898..3c2f1d77a85fe7715fbda6aec859134c595439f3 100644
--- a/fridge1_minimal_wall/trajectories_batch_2_of_4_cam_rand.h5
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diff --git a/fridge1_minimal_wall/trajectories_batch_3_of_4_cam_rand.h5 b/fridge1_minimal_wall/trajectories_batch_3_of_4_cam_rand.h5
index ca7a54eed677371cb5230f1d427ba4e9586108a5..ca3df782d939f5fbc08988bd95859c1bb34bf432 100644
--- a/fridge1_minimal_wall/trajectories_batch_3_of_4_cam_rand.h5
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diff --git a/fridge1_minimal_wall/trajectories_batch_4_of_4_cam_rand.h5 b/fridge1_minimal_wall/trajectories_batch_4_of_4_cam_rand.h5
index 1fbc5e5c934239c3f387b02ef6a10c499d8d0bd4..ddb13689385ec859b56b1c75533098c415463dfc 100644
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