sim update at 116 trajs (threshold 100)

fridge1_minimal_wall/episode_00000027_exo_camera_1_batch_3_of_4_cam_rand.mp4

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fridge1_minimal_wall/episode_00000027_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4

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fridge1_minimal_wall/episode_00000027_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4

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fridge1_minimal_wall/episode_00000027_wrist_camera_batch_3_of_4_cam_rand.mp4

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fridge1_minimal_wall/episode_00000027_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4

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fridge1_minimal_wall/episode_00000027_wrist_camera_seg_batch_3_of_4_cam_rand.mp4

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fridge1_minimal_wall/running_log.log

@@ -9918,3 +9918,154 @@
 05/09 21:31:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
 05/09 21:31:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
 05/09 21:31:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:31:49 INFO: [Worker 0] Worker 0 house 1 episode 30 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:31:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:31:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:32:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:32:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:32:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:32:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:32:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:32:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:32:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 21:32:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 21:32:11 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 21:32:11 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:32:11 INFO: [Worker 0] Collision-checked 388 grasps in 0.080s, found 324 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:32:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:32:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.895s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:32:13 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.082[m] 0.261[deg]	[grasp_sample.py: 539]
+05/09 21:32:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:32:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:32:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:32:17 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:32:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 21:32:17 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/09 21:32:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:32:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:32:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:32:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:32:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:32:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:32:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:32:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:32:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:32:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 21:32:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 21:32:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:32:31 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:32:31 INFO: [Worker 0] Collision-checked 388 grasps in 0.101s, found 342 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:32:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:32:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:32:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.92s (batch: 5.14s, save: 10.78s)	[pipeline.py: 300]
+05/09 21:32:33 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=0.83s:
+  episode_total: mean=212.78s, total=212.78s, count=1, min=212779.8ms, max=212779.8ms
+  sensor_polling: mean=538.2ms, total=153.93s, count=286, min=469.5ms, max=969.2ms
+  save_trajectories: mean=10.78s, total=10.78s, count=1, min=10782.0ms, max=10782.0ms
+  physics_step: mean=29.7ms, total=8.48s, count=286, min=20.3ms, max=86.3ms
+  save_batch_prep: mean=5.14s, total=5.14s, count=1, min=5135.8ms, max=5135.8ms
+  task_sampling: mean=829.8ms, total=829.8ms, count=1, min=829.8ms, max=829.8ms
+  task_specific_sample: mean=825.3ms, total=825.3ms, count=1, min=825.3ms, max=825.3ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=516.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:32:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.757s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:32:35 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.070[m] 1.555[deg]	[grasp_sample.py: 539]
+05/09 21:32:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:32:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:32:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:32:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:32:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:32:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:32:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:32:35 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:32:35 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 21:32:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:32:35 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 21:32:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:32:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:32:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044342m	[env.py: 870]
+05/09 21:32:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:32:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:32:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87419982  0.32733656 -0.04434198] yaw=185.4deg	[env.py: 1019]
+05/09 21:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08365508  0.38702945 -0.04434198] yaw=166.3deg	[env.py: 1019]
+05/09 21:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95891655  0.78208925 -0.04434198] yaw=-164.2deg	[env.py: 1019]
+05/09 21:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:32:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=287.1ms, total=287.2ms	[env.py: 1075]
+05/09 21:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.874, 0.327, -0.044)	[env.py: 1079]
+05/09 21:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.4 deg	[env.py: 1082]
+05/09 21:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
+05/09 21:32:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:32:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:32:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:32:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:32:36 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 21:32:36 INFO: [Worker 0] Worker 0 house 1 episode 31/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:32:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:32:36 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 21:32:36 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:32:36 INFO: [Worker 0] Collision-checked 388 grasps in 0.076s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:32:36 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/09 21:32:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:32:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:32:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:32:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:32:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:32:38 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:32:38 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:32:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:32:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048306m	[env.py: 870]
+05/09 21:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:32:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13500283  0.70934995  0.04830613] yaw=-166.4deg	[env.py: 1019]
+05/09 21:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.19097317  0.8502485   0.04830613] yaw=-155.4deg	[env.py: 1019]
+05/09 21:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.27334699  0.93626846  0.04830613] yaw=-133.7deg	[env.py: 1019]
+05/09 21:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:32:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.2ms, total=139.2ms	[env.py: 1075]
+05/09 21:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.135, 0.709, 0.048)	[env.py: 1079]
+05/09 21:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.4 deg	[env.py: 1082]
+05/09 21:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.727m	[env.py: 1086]
+05/09 21:32:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:32:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:32:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.671s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:32:39 INFO: [Worker 0] Feasible grasp found 344 (originally 150): w/ 0.609[m] 94.054[deg]	[grasp_sample.py: 539]
+05/09 21:32:39 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 21:32:39 INFO: [Worker 0] Worker 0 house 1 episode 31/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:32:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:32:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:32:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:32:39 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:32:39 INFO: [Worker 0] Collision-checked 388 grasps in 0.092s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:32:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:32:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:32:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.465s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:32:40 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.387[m] 92.518[deg]	[grasp_sample.py: 539]
+05/09 21:32:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:32:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:32:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:33:03 INFO: [Worker 0] Worker 0 house 1 episode 30 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]

fridge1_minimal_wall/trajectories_batch_3_of_4_cam_rand.h5

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