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 05/09 21:39:51 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 21:39:51 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
 05/09 21:39:51 INFO: [Worker 0] Collision-checked 388 grasps in 0.100s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:39:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.038s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:39:54 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.574[m] 84.948[deg]	[grasp_sample.py: 539]
+05/09 21:39:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:39:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:39:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:39:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:39:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:39:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.42s (batch: 4.19s, save: 10.23s)	[pipeline.py: 300]
+05/09 21:40:00 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.48s:
+  episode_total: mean=219.31s, total=219.31s, count=1, min=219310.6ms, max=219310.6ms
+  sensor_polling: mean=538.1ms, total=161.43s, count=300, min=467.1ms, max=946.3ms
+  save_trajectories: mean=10.23s, total=10.23s, count=1, min=10226.3ms, max=10226.3ms
+  physics_step: mean=31.4ms, total=9.42s, count=300, min=18.8ms, max=70.6ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4189.5ms, max=4189.5ms
+  task_sampling: mean=477.1ms, total=477.1ms, count=1, min=477.1ms, max=477.1ms
+  task_specific_sample: mean=472.1ms, total=472.1ms, count=1, min=472.1ms, max=472.1ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=627.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:40:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:40:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:40:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:40:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:40:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:40:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:40:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:40:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:40:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048654m	[env.py: 870]
+05/09 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:40:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0471159   0.51444664  0.04865359] yaw=-183.9deg	[env.py: 1019]
+05/09 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.16091073  0.86599009  0.04865359] yaw=-134.5deg	[env.py: 1019]
+05/09 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:40:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=202.2ms, total=202.2ms	[env.py: 1075]
+05/09 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.047, 0.514, 0.049)	[env.py: 1079]
+05/09 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.9 deg	[env.py: 1082]
+05/09 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.762m	[env.py: 1086]
+05/09 21:40:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:40:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:40:02 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 21:40:02 INFO: [Worker 0] Worker 0 house 1 episode 33/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:40:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:40:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:40:02 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:40:02 INFO: [Worker 0] Collision-checked 388 grasps in 0.075s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:40:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.479s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:40:03 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.425[m] 93.905[deg]	[grasp_sample.py: 539]
+05/09 21:40:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:40:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:40:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:40:20 INFO: [Worker 0] Worker 0 house 1 episode 32 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:40:41 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:40:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 21:40:41 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/09 21:40:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:40:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:40:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:40:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:40:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.95s (batch: 4.38s, save: 9.58s)	[pipeline.py: 300]
+05/09 21:40:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:40:56 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.46s:
+  episode_total: mean=218.47s, total=218.47s, count=1, min=218469.4ms, max=218469.4ms
+  sensor_polling: mean=547.3ms, total=152.70s, count=279, min=467.2ms, max=1083.7ms
+  save_trajectories: mean=9.58s, total=9.58s, count=1, min=9575.5ms, max=9575.5ms
+  physics_step: mean=29.4ms, total=8.20s, count=279, min=16.5ms, max=120.7ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4376.8ms, max=4376.8ms
+  task_sampling: mean=457.5ms, total=457.5ms, count=1, min=457.5ms, max=457.5ms
+  task_specific_sample: mean=453.9ms, total=453.9ms, count=1, min=453.9ms, max=453.9ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=419.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:40:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:40:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:40:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:40:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:40:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:40:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:40:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:40:58 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:40:58 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 21:40:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:40:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018516m	[env.py: 870]
+05/09 21:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:40:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01464788  0.40706326  0.01851618] yaw=189.0deg	[env.py: 1019]
+05/09 21:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.19177394  0.88182962  0.01851618] yaw=-135.7deg	[env.py: 1019]
+05/09 21:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.12949265  0.91569487  0.01851618] yaw=-145.5deg	[env.py: 1019]
+05/09 21:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:40:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=306.4ms, total=306.5ms	[env.py: 1075]
+05/09 21:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.015, 0.407, 0.019)	[env.py: 1079]
+05/09 21:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 189.0 deg	[env.py: 1082]
+05/09 21:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.790m	[env.py: 1086]
+05/09 21:40:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:40:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:40:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:40:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:40:58 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 21:40:58 INFO: [Worker 0] Worker 0 house 1 episode 33/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:40:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:40:58 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 21:40:58 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:40:58 INFO: [Worker 0] Collision-checked 388 grasps in 0.075s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:40:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.504s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:40:59 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.427[m] 87.667[deg]	[grasp_sample.py: 539]
+05/09 21:40:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:41:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:41:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:41:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:41:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:41:03 INFO: [Worker 0] Worker 0 house 1 episode 34 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:41:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:41:30 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:41:30 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 21:41:30 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/09 21:41:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:41:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:41:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.66s (batch: 4.89s, save: 10.77s)	[pipeline.py: 300]
+05/09 21:41:47 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.48s:
+  episode_total: mean=213.72s, total=213.72s, count=1, min=213719.8ms, max=213719.8ms
+  sensor_polling: mean=524.5ms, total=156.83s, count=299, min=418.8ms, max=928.4ms
+  save_trajectories: mean=10.77s, total=10.77s, count=1, min=10771.4ms, max=10771.4ms
+  physics_step: mean=26.5ms, total=7.94s, count=299, min=16.8ms, max=96.4ms
+  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4893.2ms, max=4893.2ms
+  task_sampling: mean=483.4ms, total=483.4ms, count=1, min=483.4ms, max=483.4ms
+  task_specific_sample: mean=478.1ms, total=478.1ms, count=1, min=478.1ms, max=478.1ms
+  scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  mj_forward_sync: mean=620.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:41:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:41:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:41:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:41:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:41:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:41:49 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:41:49 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:41:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:41:49 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 21:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036046m	[env.py: 870]
+05/09 21:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:41:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.27675182  0.98455622  0.03604576] yaw=-137.3deg	[env.py: 1019]
+05/09 21:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92978693  0.79983036  0.03604576] yaw=-164.8deg	[env.py: 1019]
+05/09 21:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84085767  0.4305698   0.03604576] yaw=-178.5deg	[env.py: 1019]
+05/09 21:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:41:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=539.1ms, total=539.1ms	[env.py: 1075]
+05/09 21:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.277, 0.985, 0.036)	[env.py: 1079]
+05/09 21:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg	[env.py: 1082]
+05/09 21:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.769m	[env.py: 1086]
+05/09 21:41:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:41:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:41:49 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 21:41:49 INFO: [Worker 0] Worker 0 house 1 episode 35/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:41:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:41:50 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 21:41:50 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:41:50 INFO: [Worker 0] Collision-checked 388 grasps in 0.103s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:41:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:41:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.537s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:41:50 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.413[m] 87.643[deg]	[grasp_sample.py: 539]
+05/09 21:41:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:41:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:41:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:42:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:42:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:42:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:42:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:42:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:42:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:42:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:42:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:42:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:42:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:42:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 21:42:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 21:42:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:42:32 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:42:32 INFO: [Worker 0] Collision-checked 388 grasps in 0.076s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:42:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.368s, found feasible grasp: False	[grasp_sample.py: 500]
+05/09 21:42:34 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/09 21:42:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:42:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:42:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:42:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:42:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:42:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:42:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:42:36 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:42:36 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:42:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:42:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010815m	[env.py: 870]
+05/09 21:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:42:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07573797  1.00424372 -0.01081467] yaw=-134.8deg	[env.py: 1019]
+05/09 21:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83957564  0.62156936 -0.01081467] yaw=-174.1deg	[env.py: 1019]
+05/09 21:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9015189   0.83655232 -0.01081467] yaw=-149.3deg	[env.py: 1019]
+05/09 21:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:42:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.8ms, total=208.8ms	[env.py: 1075]
+05/09 21:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.076, 1.004, -0.011)	[env.py: 1079]
+05/09 21:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.8 deg	[env.py: 1082]
+05/09 21:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
+05/09 21:42:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:42:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:42:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:42:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:42:37 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/09 21:42:37 INFO: [Worker 0] Worker 0 house 1 episode 34/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:42:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:42:37 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 21:42:37 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:42:37 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:42:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:42:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.801s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:42:39 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.626[m] 95.019[deg]	[grasp_sample.py: 539]
+05/09 21:42:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:42:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:42:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:42:43 INFO: [Worker 0] Worker 0 house 1 episode 33 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:42:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:42:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:43:08 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:43:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 21:43:08 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
+05/09 21:43:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:43:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:43:21 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.63s (batch: 4.12s, save: 8.51s)	[pipeline.py: 300]
+05/09 21:43:21 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.54s:
+  episode_total: mean=199.47s, total=199.47s, count=1, min=199474.8ms, max=199474.8ms
+  sensor_polling: mean=523.7ms, total=147.16s, count=281, min=432.3ms, max=969.3ms
+  save_trajectories: mean=8.51s, total=8.51s, count=1, min=8510.6ms, max=8510.6ms
+  physics_step: mean=27.9ms, total=7.83s, count=281, min=18.9ms, max=102.8ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4116.5ms, max=4116.5ms
+  task_sampling: mean=542.9ms, total=542.9ms, count=1, min=542.9ms, max=542.9ms
+  task_specific_sample: mean=538.6ms, total=538.6ms, count=1, min=538.6ms, max=538.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=457.8us, 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 21:43:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:43:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:43:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:43:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:43:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:43:23 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:43:23 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 21:43:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:43:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002142m	[env.py: 870]
+05/09 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:43:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86828549  0.12894602 -0.00214152] yaw=169.1deg	[env.py: 1019]
+05/09 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.07078505  0.42647181 -0.00214152] yaw=-173.0deg	[env.py: 1019]
+05/09 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.24439708  0.860657   -0.00214152] yaw=-137.6deg	[env.py: 1019]
+05/09 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:43:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.4ms, total=216.4ms	[env.py: 1075]
+05/09 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.868, 0.129, -0.002)	[env.py: 1079]
+05/09 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.1 deg	[env.py: 1082]
+05/09 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
+05/09 21:43:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:43:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:43:24 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 21:43:24 INFO: [Worker 0] Worker 0 house 1 episode 34/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:43:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:43:24 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 21:43:24 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:43:24 INFO: [Worker 0] Collision-checked 388 grasps in 0.097s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:43:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.668s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:43:25 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.658[m] 93.597[deg]	[grasp_sample.py: 539]
+05/09 21:43:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:43:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:43:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:43:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:43:46 INFO: [Worker 0] Worker 0 house 1 episode 33 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:43:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:44:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:44:12 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:44:12 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 21:44:12 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/09 21:44:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:44:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:44:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:44:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:44:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:44:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:44:25 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.17s (batch: 4.62s, save: 8.55s)	[pipeline.py: 300]
+05/09 21:44:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:44:26 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.56s:
+  episode_total: mean=207.99s, total=207.99s, count=1, min=207990.1ms, max=207990.1ms
+  sensor_polling: mean=539.0ms, total=152.54s, count=283, min=435.5ms, max=1134.6ms
+  physics_step: mean=30.7ms, total=8.69s, count=283, min=15.6ms, max=78.3ms
+  save_trajectories: mean=8.55s, total=8.55s, count=1, min=8552.0ms, max=8552.0ms
+  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4622.9ms, max=4622.9ms
+  task_sampling: mean=561.4ms, total=561.4ms, count=1, min=561.4ms, max=561.4ms
+  task_specific_sample: mean=556.8ms, total=556.8ms, count=1, min=556.8ms, max=556.8ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=608.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:44:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:44:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:44:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:44:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:44:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:44:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:44:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:44:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:44:28 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:44:28 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 21:44:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:44:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017223m	[env.py: 870]
+05/09 21:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:44:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97174392 -0.02433573 -0.01722342] yaw=146.8deg	[env.py: 1019]
+05/09 21:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.00293719  0.37492778 -0.01722342] yaw=181.4deg	[env.py: 1019]
+05/09 21:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:44:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=308.6ms, total=308.7ms	[env.py: 1075]
+05/09 21:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, -0.024, -0.017)	[env.py: 1079]
+05/09 21:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.8 deg	[env.py: 1082]
+05/09 21:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/09 21:44:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:44:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:44:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:44:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:44:29 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 21:44:29 INFO: [Worker 0] Worker 0 house 1 episode 34/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:44:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.144s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:44:29 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 21:44:29 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:44:29 INFO: [Worker 0] Collision-checked 388 grasps in 0.187s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:44:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.456s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:44:31 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.580[m] 87.647[deg]	[grasp_sample.py: 539]
+05/09 21:44:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:44:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:44:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:44:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:44:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:44:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 21:44:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 21:44:34 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 21:44:34 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:44:34 INFO: [Worker 0] Collision-checked 388 grasps in 0.103s, found 322 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:44:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.336s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:44:37 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.084[m] 0.428[deg]	[grasp_sample.py: 539]
+05/09 21:44:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:44:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:44:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:44:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:44:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:44:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:44:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:44:56 INFO: [Worker 0] Worker 0 house 1 episode 35 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:45:24 INFO: [Worker 0] Worker 0 house 1 episode 34 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:45:24 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:45:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 21:45:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 21:45:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:45:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:45:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:45:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.29s (batch: 4.63s, save: 10.66s)	[pipeline.py: 300]
+05/09 21:45:41 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.91s:
+  episode_total: mean=232.09s, total=232.09s, count=1, min=232087.0ms, max=232087.0ms
+  sensor_polling: mean=525.0ms, total=157.49s, count=300, min=457.7ms, max=1050.4ms
+  save_trajectories: mean=10.66s, total=10.66s, count=1, min=10657.8ms, max=10657.8ms
+  physics_step: mean=26.4ms, total=7.91s, count=300, min=16.0ms, max=54.4ms
+  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4631.6ms, max=4631.6ms
+  task_sampling: mean=909.6ms, total=909.6ms, count=1, min=909.6ms, max=909.6ms
+  task_specific_sample: mean=904.8ms, total=904.8ms, count=1, min=904.8ms, max=904.8ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=550.3us, 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 21:45:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:45:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:45:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:45:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:45:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:45:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:45:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:45:43 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:45:43 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:45:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:45:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046984m	[env.py: 870]
+05/09 21:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:45:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0498039   0.04210853  0.04698371] yaw=159.9deg	[env.py: 1019]
+05/09 21:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 164.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93235613  0.06576202  0.04698371] yaw=147.4deg	[env.py: 1019]
+05/09 21:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.00652586  0.17041997  0.04698371] yaw=154.8deg	[env.py: 1019]
+05/09 21:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:45:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=629.6ms, total=629.7ms	[env.py: 1075]
+05/09 21:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.050, 0.042, 0.047)	[env.py: 1079]
+05/09 21:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.9 deg	[env.py: 1082]
+05/09 21:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
+05/09 21:45:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:45:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:45:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:45:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:45:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 21:45:44 INFO: [Worker 0] Worker 0 house 1 episode 36/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:45:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.162s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:45:44 INFO: [Worker 0] 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 21:45:44 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:45:44 INFO: [Worker 0] Collision-checked 388 grasps in 0.100s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:45:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.093s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:45:45 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.493[m] 90.806[deg]	[grasp_sample.py: 539]
+05/09 21:45:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:45:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:45:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:45:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:45:54 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:45:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 21:45:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 21:45:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:46:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:46:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:46:08 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.38s (batch: 4.64s, save: 9.74s)	[pipeline.py: 300]
+05/09 21:46:09 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=1.07s:
+  episode_total: mean=188.35s, total=376.70s, count=2, min=163884.7ms, max=212819.7ms
+  sensor_polling: mean=514.7ms, total=288.21s, count=560, min=438.2ms, max=1085.1ms
+  physics_step: mean=25.6ms, total=14.36s, count=560, min=15.6ms, max=96.5ms
+  save_trajectories: mean=9.74s, total=9.74s, count=1, min=9738.5ms, max=9738.5ms
+  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4636.9ms, max=4636.9ms
+  task_sampling: mean=534.4ms, total=1.07s, count=2, min=523.7ms, max=545.2ms
+  task_specific_sample: mean=529.7ms, total=1.06s, count=2, min=518.3ms, max=541.1ms
+  scene_randomize: mean=2.7ms, total=5.4ms, count=2, min=1.8ms, max=3.5ms
+  mj_forward_sync: mean=622.7us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.8us, 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 21:46:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:46:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:46:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:46:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:46:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:46:11 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:46:11 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:46:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:46:11 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 21:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040807m	[env.py: 870]
+05/09 21:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:46:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85481018  0.13716998 -0.0408065 ] yaw=170.0deg	[env.py: 1019]
+05/09 21:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.11625476  0.9518533  -0.0408065 ] yaw=-150.7deg	[env.py: 1019]
+05/09 21:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.083301    0.41841664 -0.0408065 ] yaw=180.9deg	[env.py: 1019]
+05/09 21:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:46:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=411.0ms, total=411.1ms	[env.py: 1075]
+05/09 21:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.855, 0.137, -0.041)	[env.py: 1079]
+05/09 21:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.0 deg	[env.py: 1082]
+05/09 21:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
+05/09 21:46:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:46:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:46:11 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 21:46:11 INFO: [Worker 0] Worker 0 house 1 episode 35/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:46:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:46:12 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 21:46:12 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:46:12 INFO: [Worker 0] Collision-checked 388 grasps in 0.154s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:46:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.372s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:46:16 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.623[m] 88.967[deg]	[grasp_sample.py: 539]
+05/09 21:46:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:46:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:46:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:46:20 INFO: [Worker 0] Worker 0 house 1 episode 34 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:46:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:46:41 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:46:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 21:46:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 21:46:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:46:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:46:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:46:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:46:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.90s (batch: 4.28s, save: 8.62s)	[pipeline.py: 300]
+05/09 21:46:54 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.55s:
+  episode_total: mean=210.93s, total=210.93s, count=1, min=210928.1ms, max=210928.1ms
+  sensor_polling: mean=538.2ms, total=161.46s, count=300, min=452.9ms, max=963.3ms
+  physics_step: mean=28.9ms, total=8.68s, count=300, min=16.4ms, max=113.9ms
+  save_trajectories: mean=8.62s, total=8.62s, count=1, min=8621.4ms, max=8621.4ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4279.8ms, max=4279.8ms
+  task_sampling: mean=553.5ms, total=553.5ms, count=1, min=553.5ms, max=553.5ms
+  task_specific_sample: mean=548.5ms, total=548.5ms, count=1, min=548.5ms, max=548.5ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=614.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:46:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:46:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:46:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:46:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:46:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:46:56 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:46:56 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:46:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:46:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028771m	[env.py: 870]
+05/09 21:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:46:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96863405  0.38481599  0.02877083] yaw=179.5deg	[env.py: 1019]
+05/09 21:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89776698  0.44716576  0.02877083] yaw=-172.8deg	[env.py: 1019]
+05/09 21:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9121199   0.09540643  0.02877083] yaw=148.7deg	[env.py: 1019]
+05/09 21:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:46:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=300.6ms, total=300.7ms	[env.py: 1075]
+05/09 21:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.969, 0.385, 0.029)	[env.py: 1079]
+05/09 21:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.5 deg	[env.py: 1082]
+05/09 21:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m	[env.py: 1086]
+05/09 21:46:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:46:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:46:56 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 21:46:56 INFO: [Worker 0] Worker 0 house 1 episode 35/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:46:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:46:56 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 21:46:56 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:46:56 INFO: [Worker 0] Collision-checked 388 grasps in 0.104s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:46:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.485s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:46:57 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.480[m] 90.988[deg]	[grasp_sample.py: 539]
+05/09 21:46:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:46:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:46:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:47:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:47:22 INFO: [Worker 0] Worker 0 house 1 episode 34 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:47:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:47:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:47:49 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:47:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 21:47:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 21:47:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:48:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:48:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:48:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:48:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.75s (batch: 5.26s, save: 10.50s)	[pipeline.py: 300]
+05/09 21:48:06 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.63s:
+  episode_total: mean=217.07s, total=217.07s, count=1, min=217066.0ms, max=217066.0ms
+  sensor_polling: mean=530.2ms, total=159.07s, count=300, min=452.3ms, max=1201.1ms
+  save_trajectories: mean=10.50s, total=10.50s, count=1, min=10496.7ms, max=10496.7ms
+  physics_step: mean=26.7ms, total=8.02s, count=300, min=19.3ms, max=131.9ms
+  save_batch_prep: mean=5.26s, total=5.26s, count=1, min=5256.0ms, max=5256.0ms
+  task_sampling: mean=632.6ms, total=632.6ms, count=1, min=632.6ms, max=632.6ms
+  task_specific_sample: mean=627.5ms, total=627.5ms, count=1, min=627.5ms, max=627.5ms
+  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  mj_forward_sync: mean=539.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:48:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:48:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:48:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:48:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:48:07 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:48:07 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:48:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:48:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025161m	[env.py: 870]
+05/09 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:48:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.27335195  0.93480003  0.02516105] yaw=-138.2deg	[env.py: 1019]
+05/09 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92888161 -0.02082107  0.02516105] yaw=159.3deg	[env.py: 1019]
+05/09 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15180245  0.97637891  0.02516105] yaw=-136.8deg	[env.py: 1019]
+05/09 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:48:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.3ms, total=110.4ms	[env.py: 1075]
+05/09 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.273, 0.935, 0.025)	[env.py: 1079]
+05/09 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.2 deg	[env.py: 1082]
+05/09 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.736m	[env.py: 1086]
+05/09 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:48:08 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 21:48:08 INFO: [Worker 0] Worker 0 house 1 episode 35/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:48:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:48:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:48:08 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:48:08 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:48:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.537s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:48:08 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.313[m] 85.276[deg]	[grasp_sample.py: 539]
+05/09 21:48:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:48:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:48:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:48:30 INFO: [Worker 0] Worker 0 house 1 episode 36 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:48:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:48:54 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:48:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 21:48:54 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/09 21:48:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:49:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:49:02 INFO: [Worker 0] Worker 0 house 1 episode 35 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:49:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:49:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:49:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.86s (batch: 4.63s, save: 12.23s)	[pipeline.py: 300]
+05/09 21:49:11 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.93s:
+  episode_total: mean=208.44s, total=208.44s, count=1, min=208440.4ms, max=208440.4ms
+  sensor_polling: mean=520.4ms, total=153.00s, count=294, min=455.5ms, max=985.8ms
+  save_trajectories: mean=12.23s, total=12.23s, count=1, min=12229.1ms, max=12229.1ms
+  physics_step: mean=26.4ms, total=7.76s, count=294, min=18.5ms, max=104.3ms
+  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4631.5ms, max=4631.5ms
+  task_sampling: mean=933.5ms, total=933.5ms, count=1, min=933.5ms, max=933.5ms
+  task_specific_sample: mean=928.3ms, total=928.3ms, count=1, min=928.3ms, max=928.3ms
+  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  mj_forward_sync: mean=646.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:49:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:49:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:49:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:49:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:49:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:49:13 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:49:13 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 21:49:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:49:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047288m	[env.py: 870]
+05/09 21:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:49:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10092574  0.34684492 -0.04728823] yaw=174.7deg	[env.py: 1019]
+05/09 21:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81357462  0.45215964 -0.04728823] yaw=-176.8deg	[env.py: 1019]
+05/09 21:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:49:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=241.8ms, total=241.9ms	[env.py: 1075]
+05/09 21:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.101, 0.347, -0.047)	[env.py: 1079]
+05/09 21:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.7 deg	[env.py: 1082]
+05/09 21:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.708m	[env.py: 1086]
+05/09 21:49:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:49:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:49:13 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 21:49:13 INFO: [Worker 0] Worker 0 house 1 episode 37/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:49:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:49:13 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 21:49:13 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:49:14 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:49:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.410s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:49:14 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.460[m] 100.027[deg]	[grasp_sample.py: 539]
+05/09 21:49:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:49:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:49:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:49:28 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:49:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 21:49:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 21:49:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:49:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:49:43 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.08s (batch: 4.95s, save: 10.13s)	[pipeline.py: 300]
+05/09 21:49:43 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.73s:
+  episode_total: mean=212.59s, total=212.59s, count=1, min=212591.0ms, max=212591.0ms
+  sensor_polling: mean=514.0ms, total=154.19s, count=300, min=439.0ms, max=1058.1ms
+  save_trajectories: mean=10.13s, total=10.13s, count=1, min=10134.3ms, max=10134.3ms
+  physics_step: mean=25.8ms, total=7.75s, count=300, min=18.8ms, max=124.2ms
+  save_batch_prep: mean=4.95s, total=4.95s, count=1, min=4950.5ms, max=4950.5ms
+  task_sampling: mean=727.0ms, total=727.0ms, count=1, min=727.0ms, max=727.0ms
+  task_specific_sample: mean=721.7ms, total=721.7ms, count=1, min=721.7ms, max=721.7ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=963.0us, total=1.0ms, count=1, min=1.0ms, max=1.0ms
+  policy_setup: mean=21.7us, 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 21:49:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:49:45 INFO: [Worker 0] Worker 0 house 1 episode 35 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:49:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:49:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:49:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:49:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:49:45 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:49:45 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 21:49:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:49:45 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 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041203m	[env.py: 870]
+05/09 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:49:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94126211  0.61975203 -0.04120326] yaw=-170.3deg	[env.py: 1019]
+05/09 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.30190147  1.05631552 -0.04120326] yaw=-130.3deg	[env.py: 1019]
+05/09 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.12244881  0.80933748 -0.04120326] yaw=-139.5deg	[env.py: 1019]
+05/09 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:49:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.1ms, total=184.1ms	[env.py: 1075]
+05/09 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.620, -0.041)	[env.py: 1079]
+05/09 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.3 deg	[env.py: 1082]
+05/09 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m	[env.py: 1086]
+05/09 21:49:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:49:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:49:45 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 21:49:45 INFO: [Worker 0] Worker 0 house 1 episode 36/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:49:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:49:45 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 21:49:45 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:49:46 INFO: [Worker 0] Collision-checked 388 grasps in 0.066s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:49:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.628s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:49:46 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.507[m] 85.250[deg]	[grasp_sample.py: 539]
+05/09 21:49:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:49:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:49:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:50:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:50:05 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:50:05 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 21:50:05 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/09 21:50:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:50:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:50:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:50:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.61s (batch: 4.10s, save: 8.51s)	[pipeline.py: 300]
+05/09 21:50:18 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.62s:
+  episode_total: mean=202.47s, total=202.47s, count=1, min=202465.2ms, max=202465.2ms
+  sensor_polling: mean=521.1ms, total=152.69s, count=293, min=429.1ms, max=967.2ms
+  physics_step: mean=29.1ms, total=8.53s, count=293, min=20.0ms, max=120.3ms
+  save_trajectories: mean=8.51s, total=8.51s, count=1, min=8514.3ms, max=8514.3ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4095.1ms, max=4095.1ms
+  task_sampling: mean=620.8ms, total=620.8ms, count=1, min=620.8ms, max=620.8ms
+  task_specific_sample: mean=617.2ms, total=617.2ms, count=1, min=617.2ms, max=617.2ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=439.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:50:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:50:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:50:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:50:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:50:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:50:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:50:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:50:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:50:20 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:50:20 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 21:50:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:50:20 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 21:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019665m	[env.py: 870]
+05/09 21:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:50:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.17862505  0.77456505 -0.01966519] yaw=-145.5deg	[env.py: 1019]
+05/09 21:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05651995  0.09313726 -0.01966519] yaw=162.6deg	[env.py: 1019]
+05/09 21:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01466847  0.63848699 -0.01966519] yaw=-170.7deg	[env.py: 1019]
+05/09 21:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:50:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.1ms, total=123.1ms	[env.py: 1075]
+05/09 21:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.179, 0.775, -0.020)	[env.py: 1079]
+05/09 21:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.5 deg	[env.py: 1082]
+05/09 21:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.717m	[env.py: 1086]
+05/09 21:50:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:50:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:50:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:50:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:50:20 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 21:50:20 INFO: [Worker 0] Worker 0 house 1 episode 36/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:50:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:50:20 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 21:50:20 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:50:20 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:50:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:50:21 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.307[m] 79.675[deg]	[grasp_sample.py: 539]
+05/09 21:50:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:50:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:50:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:50:32 INFO: [Worker 0] Worker 0 house 1 episode 35 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:50:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:50:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:50:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:50:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:50:55 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:50:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 21:50:55 INFO: [Worker 0] Preparing episode data: 260 timesteps	[save_utils.py: 278]
+05/09 21:51:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:51:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:51:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:51:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:51:08 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.74s (batch: 3.89s, save: 9.85s)	[pipeline.py: 300]
+05/09 21:51:09 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.41s:
+  episode_total: mean=181.72s, total=181.72s, count=1, min=181718.6ms, max=181718.6ms
+  sensor_polling: mean=514.3ms, total=133.20s, count=259, min=441.5ms, max=864.1ms
+  save_trajectories: mean=9.85s, total=9.85s, count=1, min=9847.6ms, max=9847.6ms
+  physics_step: mean=27.8ms, total=7.21s, count=259, min=19.1ms, max=130.5ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3893.0ms, max=3893.0ms
+  task_sampling: mean=409.7ms, total=409.7ms, count=1, min=409.7ms, max=409.7ms
+  task_specific_sample: mean=406.0ms, total=406.0ms, count=1, min=406.0ms, max=406.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=405.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:51:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:51:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:51:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:51:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:51:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:51:11 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:51:11 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:51:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:51:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017817m	[env.py: 870]
+05/09 21:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:51:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92280901  0.1053259   0.01781709] yaw=150.1deg	[env.py: 1019]
+05/09 21:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98788483  0.87554139  0.01781709] yaw=-145.2deg	[env.py: 1019]
+05/09 21:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09939247  0.41079841  0.01781709] yaw=184.6deg	[env.py: 1019]
+05/09 21:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:51:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.2ms, total=111.2ms	[env.py: 1075]
+05/09 21:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.923, 0.105, 0.018)	[env.py: 1079]
+05/09 21:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.1 deg	[env.py: 1082]
+05/09 21:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
+05/09 21:51:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:51:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:51:11 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 21:51:11 INFO: [Worker 0] Worker 0 house 1 episode 36/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:51:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:51:11 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 21:51:11 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:51:11 INFO: [Worker 0] Collision-checked 388 grasps in 0.106s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:51:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.088s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:51:15 INFO: [Worker 0] Feasible grasp found 317 (originally 123): w/ 0.571[m] 90.765[deg]	[grasp_sample.py: 539]
+05/09 21:51:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:51:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:51:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:51:55 INFO: [Worker 0] Worker 0 house 1 episode 37 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:52:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:52:15 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:52:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 21:52:15 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/09 21:52:20 INFO: [Worker 0] Worker 0 house 1 episode 36 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:52:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:52:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:52:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:52:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:52:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.95s (batch: 4.70s, save: 10.25s)	[pipeline.py: 300]
+05/09 21:52:31 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.54s:
+  episode_total: mean=197.73s, total=197.73s, count=1, min=197732.4ms, max=197732.4ms
+  sensor_polling: mean=493.6ms, total=144.61s, count=293, min=413.5ms, max=821.5ms
+  save_trajectories: mean=10.25s, total=10.25s, count=1, min=10253.3ms, max=10253.3ms
+  physics_step: mean=28.0ms, total=8.22s, count=293, min=15.7ms, max=108.3ms
+  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4701.3ms, max=4701.3ms
+  task_sampling: mean=542.2ms, total=542.2ms, count=1, min=542.2ms, max=542.2ms
+  task_specific_sample: mean=537.8ms, total=537.8ms, count=1, min=537.8ms, max=537.8ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=517.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:52:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:52:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:52:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:52:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:52:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:52:32 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:52:32 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:52:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:52:32 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 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005936m	[env.py: 870]
+05/09 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:52:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9757987   0.69751676  0.00593609] yaw=-160.8deg	[env.py: 1019]
+05/09 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.13838988  0.69455534  0.00593609] yaw=-152.4deg	[env.py: 1019]
+05/09 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:52:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.6ms, total=216.6ms	[env.py: 1075]
+05/09 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.976, 0.698, 0.006)	[env.py: 1079]
+05/09 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.8 deg	[env.py: 1082]
+05/09 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
+05/09 21:52:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:52:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:52:33 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 21:52:33 INFO: [Worker 0] Worker 0 house 1 episode 38/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:52:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:52:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:52:33 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:52:33 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:52:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.449s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:52:33 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.490[m] 90.924[deg]	[grasp_sample.py: 539]
+05/09 21:52:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:52:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:52:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:52:38 INFO: [Worker 0] Worker 0 house 1 episode 36 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:52:44 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:52:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 21:52:44 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/09 21:52:57 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:52:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 21:52:57 INFO: [Worker 0] Preparing episode data: 260 timesteps	[save_utils.py: 278]
+05/09 21:52:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:52:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:52:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.05s (batch: 4.08s, save: 9.97s)	[pipeline.py: 300]
+05/09 21:52:59 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.48s:
+  episode_total: mean=193.85s, total=193.85s, count=1, min=193846.6ms, max=193846.6ms
+  sensor_polling: mean=482.8ms, total=143.39s, count=297, min=393.4ms, max=885.4ms
+  save_trajectories: mean=9.97s, total=9.97s, count=1, min=9974.0ms, max=9974.0ms
+  physics_step: mean=24.3ms, total=7.21s, count=297, min=19.0ms, max=90.6ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4079.3ms, max=4079.3ms
+  task_sampling: mean=485.0ms, total=485.0ms, count=1, min=485.0ms, max=485.0ms
+  task_specific_sample: mean=481.2ms, total=481.2ms, count=1, min=481.2ms, max=481.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=395.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:53:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:53:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:53:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:53:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:53:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:53:00 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:53:00 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 21:53:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:53:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018151m	[env.py: 870]
+05/09 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:53:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.24364383  1.04044846 -0.01815109] yaw=-127.0deg	[env.py: 1019]
+05/09 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11270883  0.14779701 -0.01815109] yaw=158.2deg	[env.py: 1019]
+05/09 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10319054  0.33361644 -0.01815109] yaw=171.1deg	[env.py: 1019]
+05/09 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:53:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=86.0ms, total=86.0ms	[env.py: 1075]
+05/09 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.244, 1.040, -0.018)	[env.py: 1079]
+05/09 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.0 deg	[env.py: 1082]
+05/09 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
+05/09 21:53:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:53:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:53:01 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 21:53:01 INFO: [Worker 0] Worker 0 house 1 episode 37/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:53:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:53:01 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 21:53:01 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:53:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:53:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.481s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:53:01 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.522[m] 90.958[deg]	[grasp_sample.py: 539]
+05/09 21:53:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:53:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:53:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:53:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:53:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:53:08 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.57s (batch: 3.48s, save: 7.09s)	[pipeline.py: 300]
+05/09 21:53:08 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.44s:
+  episode_total: mean=168.62s, total=168.62s, count=1, min=168623.8ms, max=168623.8ms
+  sensor_polling: mean=490.9ms, total=127.14s, count=259, min=386.4ms, max=1082.4ms
+  save_trajectories: mean=7.09s, total=7.09s, count=1, min=7093.7ms, max=7093.7ms
+  physics_step: mean=26.5ms, total=6.87s, count=259, min=16.6ms, max=91.6ms
+  save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3475.9ms, max=3475.9ms
+  task_sampling: mean=439.9ms, total=439.9ms, count=1, min=439.9ms, max=439.9ms
+  task_specific_sample: mean=436.3ms, total=436.3ms, count=1, min=436.3ms, max=436.3ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=444.9us, 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 21:53:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:53:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:53:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:53:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:53:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:53:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:53:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:53:10 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:53:10 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:53:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:53:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042584m	[env.py: 870]
+05/09 21:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:53:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9208356   0.01954228  0.04258429] yaw=153.7deg	[env.py: 1019]
+05/09 21:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94132845  0.10292429  0.04258429] yaw=167.1deg	[env.py: 1019]
+05/09 21:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.25158659  0.8587251   0.04258429] yaw=-139.1deg	[env.py: 1019]
+05/09 21:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:53:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=241.6ms, total=241.6ms	[env.py: 1075]
+05/09 21:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.921, 0.020, 0.043)	[env.py: 1079]
+05/09 21:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.7 deg	[env.py: 1082]
+05/09 21:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m	[env.py: 1086]
+05/09 21:53:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:53:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:53:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:53:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:53:10 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 21:53:10 INFO: [Worker 0] Worker 0 house 1 episode 37/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:53:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:53:10 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 21:53:10 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:53:10 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:53:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.356s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:53:12 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.615[m] 93.989[deg]	[grasp_sample.py: 539]
+05/09 21:53:13 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/09 21:53:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:53:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:53:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:53:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:53:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:53:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:53:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:53:14 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:53:14 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:53:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:53:14 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 21:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027101m	[env.py: 870]
+05/09 21:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:53:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06690294  0.60217147  0.02710149] yaw=-159.2deg	[env.py: 1019]
+05/09 21:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06326435  0.08297411  0.02710149] yaw=162.0deg	[env.py: 1019]
+05/09 21:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82925588  0.47198266  0.02710149] yaw=-176.9deg	[env.py: 1019]
+05/09 21:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:53:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.7ms, total=109.7ms	[env.py: 1075]
+05/09 21:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.067, 0.602, 0.027)	[env.py: 1079]
+05/09 21:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.2 deg	[env.py: 1082]
+05/09 21:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.758m	[env.py: 1086]
+05/09 21:53:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:53:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:53:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:53:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:53:15 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/09 21:53:15 INFO: [Worker 0] Worker 0 house 1 episode 38/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:53:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:53:15 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 21:53:15 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:53:15 INFO: [Worker 0] Collision-checked 388 grasps in 0.063s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:53:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.379s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:53:15 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.411[m] 90.028[deg]	[grasp_sample.py: 539]
+05/09 21:53:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:53:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:53:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:53:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:53:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:53:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:53:41 INFO: [Worker 0] Worker 0 house 1 episode 36 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:53:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:53:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:53:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:54:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:54:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:54:04 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:54:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 21:54:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 21:54:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:54:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:54:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:54:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.89s (batch: 4.07s, save: 9.82s)	[pipeline.py: 300]
+05/09 21:54:19 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.41s:
+  episode_total: mean=187.85s, total=187.85s, count=1, min=187849.2ms, max=187849.2ms
+  sensor_polling: mean=453.5ms, total=136.04s, count=300, min=381.5ms, max=970.5ms
+  save_trajectories: mean=9.82s, total=9.82s, count=1, min=9820.7ms, max=9820.7ms
+  physics_step: mean=22.3ms, total=6.68s, count=300, min=16.9ms, max=75.2ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4074.0ms, max=4074.0ms
+  task_sampling: mean=411.6ms, total=411.6ms, count=1, min=411.6ms, max=411.6ms
+  task_specific_sample: mean=407.1ms, total=407.1ms, count=1, min=407.1ms, max=407.1ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=502.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:54:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:54:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:54:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:54:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:54:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:54:20 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:54:20 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 21:54:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:54:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008922m	[env.py: 870]
+05/09 21:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:54:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87906367  0.20667244  0.0089219 ] yaw=175.4deg	[env.py: 1019]
+05/09 21:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92517592  0.47314464  0.0089219 ] yaw=-176.1deg	[env.py: 1019]
+05/09 21:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10385388  0.85332544  0.0089219 ] yaw=-146.5deg	[env.py: 1019]
+05/09 21:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:54:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.1ms, total=168.2ms	[env.py: 1075]
+05/09 21:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.879, 0.207, 0.009)	[env.py: 1079]
+05/09 21:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.4 deg	[env.py: 1082]
+05/09 21:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
+05/09 21:54:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:54:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:54:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:54:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:54:21 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 21:54:21 INFO: [Worker 0] Worker 0 house 1 episode 37/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:54:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:54:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:54:21 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:54:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.085s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:54:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.101s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:54:23 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.619[m] 95.012[deg]	[grasp_sample.py: 539]
+05/09 21:54:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:54:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:54:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:54:54 INFO: [Worker 0] Worker 0 house 1 episode 38 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:55:15 INFO: [Worker 0] Saved videos eagerly for episode 36 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:55:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 21:55:15 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/09 21:55:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:55:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:55:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:55:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:55:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:55:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:55:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:55:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:55:31 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.51s (batch: 4.54s, save: 10.97s)	[pipeline.py: 300]
+05/09 21:55:32 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=0.49s:
+  episode_total: mean=179.38s, total=179.38s, count=1, min=179380.5ms, max=179380.5ms
+  sensor_polling: mean=447.4ms, total=131.53s, count=294, min=387.2ms, max=761.1ms
+  save_trajectories: mean=10.97s, total=10.97s, count=1, min=10967.7ms, max=10967.7ms
+  physics_step: mean=21.5ms, total=6.31s, count=294, min=13.7ms, max=59.5ms
+  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4541.6ms, max=4541.6ms
+  task_sampling: mean=491.4ms, total=491.4ms, count=1, min=491.4ms, max=491.4ms
+  task_specific_sample: mean=488.0ms, total=488.0ms, count=1, min=488.0ms, max=488.0ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=362.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:55:32 INFO: [Worker 0] Worker 0 house 1 episode 38 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:55:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:55:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:55:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:55:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:55:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:55:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:55:33 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:55:33 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 21:55:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:55:33 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 21:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026512m	[env.py: 870]
+05/09 21:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:55:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.19793324  0.87511068  0.02651174] yaw=-136.6deg	[env.py: 1019]
+05/09 21:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:55:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.18476598  1.09907557  0.02651174] yaw=-137.5deg	[env.py: 1019]
+05/09 21:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05819407  0.16425973  0.02651174] yaw=151.9deg	[env.py: 1019]
+05/09 21:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:55:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.1ms, total=97.2ms	[env.py: 1075]
+05/09 21:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.198, 0.875, 0.027)	[env.py: 1079]
+05/09 21:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.6 deg	[env.py: 1082]
+05/09 21:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.755m	[env.py: 1086]
+05/09 21:55:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:55:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:55:33 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 21:55:33 INFO: [Worker 0] Worker 0 house 1 episode 39/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:55:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:55:34 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 21:55:34 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:55:34 INFO: [Worker 0] Collision-checked 388 grasps in 0.074s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:55:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:55:34 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.368[m] 81.089[deg]	[grasp_sample.py: 539]
+05/09 21:55:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:55:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:55:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:55:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:55:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 21:55:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 21:55:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:55:35 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:55:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:55:35 INFO: [Worker 0] Collision-checked 388 grasps in 0.067s, found 320 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:55:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.500s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:55:36 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.045[m] 0.469[deg]	[grasp_sample.py: 539]
+05/09 21:55:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:55:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:55:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:55:39 INFO: [Worker 0] Worker 0 house 1 episode 37 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:55:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:55:50 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:55:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 21:55:50 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/09 21:56:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:56:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:56:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.86s (batch: 4.01s, save: 7.85s)	[pipeline.py: 300]
+05/09 21:56:02 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:56:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 21:56:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 21:56:02 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=0.84s:
+  episode_total: mean=85.38s, total=170.75s, count=2, min=2927.0ms, max=167824.6ms
+  sensor_polling: mean=455.2ms, total=127.01s, count=279, min=394.8ms, max=845.5ms
+  save_trajectories: mean=7.85s, total=7.85s, count=1, min=7845.4ms, max=7845.4ms
+  physics_step: mean=22.9ms, total=6.39s, count=279, min=14.1ms, max=51.5ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4012.1ms, max=4012.1ms
+  task_sampling: mean=418.4ms, total=836.8ms, count=2, min=327.1ms, max=509.6ms
+  task_specific_sample: mean=415.2ms, total=830.4ms, count=2, min=324.4ms, max=506.0ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=360.9us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:56:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:56:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:56:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:56:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:56:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:56:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:56:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:56:04 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:56:04 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 21:56:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:56:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029998m	[env.py: 870]
+05/09 21:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:56:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07101083  0.31666395  0.02999836] yaw=161.6deg	[env.py: 1019]
+05/09 21:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.1106571   0.30592917  0.02999836] yaw=159.0deg	[env.py: 1019]
+05/09 21:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.07016939  0.24387023  0.02999836] yaw=172.7deg	[env.py: 1019]
+05/09 21:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:56:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.3ms, total=143.3ms	[env.py: 1075]
+05/09 21:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.071, 0.317, 0.030)	[env.py: 1079]
+05/09 21:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.6 deg	[env.py: 1082]
+05/09 21:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.741m	[env.py: 1086]
+05/09 21:56:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:56:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:56:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:56:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:56:04 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 21:56:04 INFO: [Worker 0] Worker 0 house 1 episode 39/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:56:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:56:04 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 21:56:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:56:04 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:56:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.410s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:56:05 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.353[m] 84.247[deg]	[grasp_sample.py: 539]
+05/09 21:56:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:56:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:56:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:56:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:56:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:56:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:56:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.82s (batch: 3.90s, save: 7.92s)	[pipeline.py: 300]
+05/09 21:56:14 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.33s:
+  episode_total: mean=194.17s, total=194.17s, count=1, min=194166.1ms, max=194166.1ms
+  sensor_polling: mean=446.2ms, total=133.87s, count=300, min=383.8ms, max=930.9ms
+  save_trajectories: mean=7.92s, total=7.92s, count=1, min=7915.9ms, max=7915.9ms
+  physics_step: mean=21.1ms, total=6.33s, count=300, min=13.8ms, max=44.4ms
+  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3904.5ms, max=3904.5ms
+  task_sampling: mean=334.8ms, total=334.8ms, count=1, min=334.8ms, max=334.8ms
+  task_specific_sample: mean=331.4ms, total=331.4ms, count=1, min=331.4ms, max=331.4ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=361.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:56:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:56:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:56:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:56:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:56:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:56:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:56:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:56:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:56:16 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:56:16 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 21:56:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:56:16 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 21:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015707m	[env.py: 870]
+05/09 21:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:56:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13533492  0.08026624 -0.01570651] yaw=142.9deg	[env.py: 1019]
+05/09 21:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99824494  0.84414035 -0.01570651] yaw=-149.4deg	[env.py: 1019]
+05/09 21:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.12048929  0.86945174 -0.01570651] yaw=-139.3deg	[env.py: 1019]
+05/09 21:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:56:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.0ms, total=123.0ms	[env.py: 1075]
+05/09 21:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.135, 0.080, -0.016)	[env.py: 1079]
+05/09 21:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.9 deg	[env.py: 1082]
+05/09 21:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.753m	[env.py: 1086]
+05/09 21:56:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:56:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:56:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:56:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:56:16 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 21:56:16 INFO: [Worker 0] Worker 0 house 1 episode 38/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:56:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:56:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 21:56:16 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:56:16 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:56:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.384s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:56:17 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.413[m] 86.562[deg]	[grasp_sample.py: 539]
+05/09 21:56:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:56:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:56:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:56:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:56:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:56:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:56:48 INFO: [Worker 0] Worker 0 house 1 episode 37 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:56:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:56:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:57:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:57:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:57:11 INFO: [Worker 0] Saved videos eagerly for episode 36 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:57:11 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 21:57:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 21:57:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:57:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:57:26 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.63s (batch: 4.61s, save: 10.02s)	[pipeline.py: 300]
+05/09 21:57:26 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.42s:
+  episode_total: mean=186.03s, total=186.03s, count=1, min=186025.9ms, max=186025.9ms
+  sensor_polling: mean=449.2ms, total=134.76s, count=300, min=381.2ms, max=1064.5ms
+  save_trajectories: mean=10.02s, total=10.02s, count=1, min=10018.0ms, max=10018.0ms
+  physics_step: mean=22.5ms, total=6.74s, count=300, min=13.6ms, max=62.9ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4613.9ms, max=4613.9ms
+  task_sampling: mean=421.9ms, total=421.9ms, count=1, min=421.9ms, max=421.9ms
+  task_specific_sample: mean=417.6ms, total=417.6ms, count=1, min=417.6ms, max=417.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=516.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.8us, 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 21:57:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:57:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:57:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:57:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:57:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:57:28 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:57:28 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 21:57:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:57:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000141m	[env.py: 870]
+05/09 21:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:57:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.27979941e+00  9.34835402e-01  1.40905469e-04] yaw=-142.9deg	[env.py: 1019]
+05/09 21:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11315810e+00  7.52452714e-01  1.40905469e-04] yaw=-159.5deg	[env.py: 1019]
+05/09 21:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-9.02371993e-01  5.13155943e-01  1.40905469e-04] yaw=-168.7deg	[env.py: 1019]
+05/09 21:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:57:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.7ms, total=160.7ms	[env.py: 1075]
+05/09 21:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.280, 0.935, 0.000)	[env.py: 1079]
+05/09 21:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.9 deg	[env.py: 1082]
+05/09 21:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.731m	[env.py: 1086]
+05/09 21:57:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:57:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:57:28 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 21:57:28 INFO: [Worker 0] Worker 0 house 1 episode 38/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:57:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:57:28 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 21:57:28 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:57:29 INFO: [Worker 0] Collision-checked 388 grasps in 0.066s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:57:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.396s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:57:29 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.427[m] 86.769[deg]	[grasp_sample.py: 539]
+05/09 21:57:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:57:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:57:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:57:41 INFO: [Worker 0] Worker 0 house 1 episode 39 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:58:04 INFO: [Worker 0] Saved videos eagerly for episode 37 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:58:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 21:58:04 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
+05/09 21:58:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:58:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:58:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:58:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.37s (batch: 3.78s, save: 7.59s)	[pipeline.py: 300]
+05/09 21:58:16 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=0.35s:
+  episode_total: mean=162.73s, total=162.73s, count=1, min=162732.6ms, max=162732.6ms
+  sensor_polling: mean=440.7ms, total=118.54s, count=269, min=387.8ms, max=709.9ms
+  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7589.3ms, max=7589.3ms
+  physics_step: mean=21.2ms, total=5.71s, count=269, min=13.6ms, max=42.8ms
+  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3779.4ms, max=3779.4ms
+  task_sampling: mean=346.9ms, total=346.9ms, count=1, min=346.9ms, max=346.9ms
+  task_specific_sample: mean=343.0ms, total=343.0ms, count=1, min=343.0ms, max=343.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=459.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 21:58:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:58:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:58:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:58:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:58:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:58:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:58:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:58:17 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:58:17 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 21:58:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:58:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007307m	[env.py: 870]
+05/09 21:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:58:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:58:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.34073761  1.00553429 -0.00730743] yaw=-121.7deg	[env.py: 1019]
+05/09 21:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:58:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=159.4ms, total=159.4ms	[env.py: 1075]
+05/09 21:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.341, 1.006, -0.007)	[env.py: 1079]
+05/09 21:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.7 deg	[env.py: 1082]
+05/09 21:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.743m	[env.py: 1086]
+05/09 21:58:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:58:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:58:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:58:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:58:18 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 21:58:18 INFO: [Worker 0] Worker 0 house 1 episode 40/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:58:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:58:18 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 21:58:18 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:58:18 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:58:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:58:20 INFO: [Worker 0] Worker 0 house 1 episode 39 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:58:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.601s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:58:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.453[m] 89.328[deg]	[grasp_sample.py: 539]
+05/09 21:58:22 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/09 21:58:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:58:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:58:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:58:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:58:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:58:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:58:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:58:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:58:24 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:58:24 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 21:58:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:58:24 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 21:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048488m	[env.py: 870]
+05/09 21:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:58:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.1111559   0.12637486  0.0484885 ] yaw=149.5deg	[env.py: 1019]
+05/09 21:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:58:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=748.7ms, total=748.8ms	[env.py: 1075]
+05/09 21:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.111, 0.126, 0.048)	[env.py: 1079]
+05/09 21:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.5 deg	[env.py: 1082]
+05/09 21:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.755m	[env.py: 1086]
+05/09 21:58:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:58:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:58:25 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/09 21:58:25 INFO: [Worker 0] Worker 0 house 1 episode 41/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:58:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:58:25 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 21:58:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:58:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.146s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:58:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.915s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:58:26 INFO: [Worker 0] Feasible grasp found 328 (originally 134): w/ 0.298[m] 76.549[deg]	[grasp_sample.py: 539]
+05/09 21:58:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:58:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:58:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:58:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:58:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:58:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:58:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:58:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:58:40 INFO: [Worker 0] Worker 0 house 1 episode 38 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 21:58:41 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:58:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 21:58:41 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/09 21:58:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:58:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:58:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.68s (batch: 3.75s, save: 7.93s)	[pipeline.py: 300]
+05/09 21:58:53 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=0.39s:
+  episode_total: mean=169.88s, total=169.88s, count=1, min=169877.2ms, max=169877.2ms
+  sensor_polling: mean=448.7ms, total=119.36s, count=266, min=395.4ms, max=980.6ms
+  save_trajectories: mean=7.93s, total=7.93s, count=1, min=7926.1ms, max=7926.1ms
+  physics_step: mean=22.5ms, total=5.98s, count=266, min=14.1ms, max=51.6ms
+  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3752.2ms, max=3752.2ms
+  task_sampling: mean=388.4ms, total=388.4ms, count=1, min=388.4ms, max=388.4ms
+  task_specific_sample: mean=384.9ms, total=384.9ms, count=1, min=384.9ms, max=384.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=382.4us, 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 21:58:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:58:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:58:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:58:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:58:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:58:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:58:55 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:58:55 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 21:58:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:58:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046943m	[env.py: 870]
+05/09 21:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:58:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93523747  0.159705    0.04694308] yaw=171.0deg	[env.py: 1019]
+05/09 21:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.023515    0.00341122  0.04694308] yaw=142.7deg	[env.py: 1019]
+05/09 21:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89195099  0.5051756   0.04694308] yaw=-184.1deg	[env.py: 1019]
+05/09 21:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:58:55 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 21:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 0.160, 0.047)	[env.py: 1079]
+05/09 21:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.0 deg	[env.py: 1082]
+05/09 21:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
+05/09 21:58:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:58:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:58:55 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 21:58:55 INFO: [Worker 0] Worker 0 house 1 episode 40/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:58:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:58:56 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 21:58:56 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:58:56 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:58:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.588s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:58:56 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.564[m] 95.929[deg]	[grasp_sample.py: 539]
+05/09 21:58:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:58:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:58:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:59:01 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 21:59:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 21:59:01 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/09 21:59:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:59:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:59:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 21:59:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 21:59:12 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.83s (batch: 3.86s, save: 6.97s)	[pipeline.py: 300]
+05/09 21:59:13 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=0.38s:
+  episode_total: mean=176.70s, total=176.70s, count=1, min=176702.7ms, max=176702.7ms
+  sensor_polling: mean=461.1ms, total=128.64s, count=279, min=399.9ms, max=851.0ms
+  save_trajectories: mean=6.97s, total=6.97s, count=1, min=6972.8ms, max=6972.8ms
+  physics_step: mean=22.3ms, total=6.23s, count=279, min=13.4ms, max=79.0ms
+  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3861.0ms, max=3861.0ms
+  task_sampling: mean=379.0ms, total=379.0ms, count=1, min=379.0ms, max=379.0ms
+  task_specific_sample: mean=375.6ms, total=375.6ms, count=1, min=375.6ms, max=375.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=351.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.7us, 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 21:59:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 21:59:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 21:59:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 21:59:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:59:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:59:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:59:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:59:14 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 21:59:14 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 21:59:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 21:59:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.010m, effective arm-mount z=0.850m (base_body_z=-0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 21:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 21:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 21:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010339m	[env.py: 870]
+05/09 21:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 21:59:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 21:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 21:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88679375  0.67915468 -0.01033853] yaw=-163.4deg	[env.py: 1019]
+05/09 21:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 21:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 21:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93348446  0.73932823 -0.01033853] yaw=-167.8deg	[env.py: 1019]
+05/09 21:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 21:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.09158119  0.86626627 -0.01033853] yaw=-159.5deg	[env.py: 1019]
+05/09 21:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 21:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 21:59:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.0ms, total=141.0ms	[env.py: 1075]
+05/09 21:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.887, 0.679, -0.010)	[env.py: 1079]
+05/09 21:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.4 deg	[env.py: 1082]
+05/09 21:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
+05/09 21:59:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 21:59:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 21:59:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 21:59:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 21:59:14 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 21:59:14 INFO: [Worker 0] Worker 0 house 1 episode 39/60 collected=0/10	[pipeline.py: 1044]
+05/09 21:59:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/09 21:59:15 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 21:59:15 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:59:15 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:59:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.609s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:59:16 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.543[m] 84.709[deg]	[grasp_sample.py: 539]
+05/09 21:59:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:59:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:59:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:59:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:59:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:59:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:59:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:59:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:59:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:59:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:59:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:59:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:59:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 21:59:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 21:59:47 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 21:59:47 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 21:59:47 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 322 non-colliding grasps	[grasp_sample.py: 465]
+05/09 21:59:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.539s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 21:59:48 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.084[m] 0.363[deg]	[grasp_sample.py: 539]
+05/09 21:59:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 21:59:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 21:59:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:59:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:59:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:59:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 21:59:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:59:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:59:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 21:59:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 21:59:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 22:00:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 22:00:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 22:00:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 22:00:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 22:00:01 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 22:00:01 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 22:00:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 336 non-colliding grasps	[grasp_sample.py: 465]
+05/09 22:00:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.522s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 22:00:03 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.031[m] 0.396[deg]	[grasp_sample.py: 539]
+05/09 22:00:04 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/09 22:00:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 22:00:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 22:00:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 22:00:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 22:00:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 22:00:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 22:00:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 22:00:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 22:00:06 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 22:00:06 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 22:00:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 22:00:06 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 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013422m	[env.py: 870]
+05/09 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 22:00:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97999189  0.97140174 -0.01342159] yaw=-153.4deg	[env.py: 1019]
+05/09 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91930365  0.43272064 -0.01342159] yaw=-168.9deg	[env.py: 1019]
+05/09 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.20518881  0.87257942 -0.01342159] yaw=-139.4deg	[env.py: 1019]
+05/09 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 22:00:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.2ms, total=136.3ms	[env.py: 1075]
+05/09 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.980, 0.971, -0.013)	[env.py: 1079]
+05/09 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.4 deg	[env.py: 1082]
+05/09 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m	[env.py: 1086]
+05/09 22:00:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 22:00:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 22:00:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 22:00:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 22:00:06 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 22:00:06 INFO: [Worker 0] Worker 0 house 1 episode 39/60 collected=0/10	[pipeline.py: 1044]
+05/09 22:00:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/09 22:00:06 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 22:00:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 22:00:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 22:00:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.552s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 22:00:08 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.642[m] 92.872[deg]	[grasp_sample.py: 539]
+05/09 22:00:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 22:00:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 22:00:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 22:00:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 22:00:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 22:00:24 INFO: [Worker 0] Worker 0 house 1 episode 41 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 22:00:41 INFO: [Worker 0] Saved videos eagerly for episode 38 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 22:00:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 22:00:41 INFO: [Worker 0] Preparing episode data: 253 timesteps	[save_utils.py: 278]
+05/09 22:00:44 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 22:00:44 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=1.42s:
+  episode_total: mean=72.43s, total=144.85s, count=2, min=5023.3ms, max=139831.5ms
+  sensor_polling: mean=419.8ms, total=105.80s, count=252, min=385.1ms, max=578.0ms
+  physics_step: mean=20.8ms, total=5.25s, count=252, min=16.9ms, max=43.5ms
+  save_batch_prep: mean=3.47s, total=3.47s, count=1, min=3466.0ms, max=3466.0ms
+  task_sampling: mean=710.2ms, total=1.42s, count=2, min=450.5ms, max=969.9ms
+  task_specific_sample: mean=706.4ms, total=1.41s, count=2, min=446.2ms, max=966.7ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.3ms, max=2.9ms
+  mj_forward_sync: mean=545.5us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=15.7us, 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 22:00:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 22:00:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 22:00:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 22:00:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 22:00:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 22:00:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 22:00:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 22:00:46 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 22:00:46 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 22:00:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 22:00:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 22:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 22:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 22:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000609m	[env.py: 870]
+05/09 22:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 22:00:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 22:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 22:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 22:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-9.64867988e-01  4.74628117e-01 -6.08703810e-04] yaw=-166.4deg	[env.py: 1019]
+05/09 22:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 22:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06399328e+00  9.77893196e-01 -6.08703810e-04] yaw=-147.8deg	[env.py: 1019]
+05/09 22:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 22:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 22:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 22:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-8.50206357e-01  2.53324285e-01 -6.08703810e-04] yaw=164.6deg	[env.py: 1019]
+05/09 22:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 22:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 22:00:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.2ms, total=134.2ms	[env.py: 1075]
+05/09 22:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.475, -0.001)	[env.py: 1079]
+05/09 22:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.4 deg	[env.py: 1082]
+05/09 22:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
+05/09 22:00:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 22:00:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 22:00:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 22:00:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 22:00:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 22:00:46 INFO: [Worker 0] Worker 0 house 1 episode 42/60 collected=0/10	[pipeline.py: 1044]
+05/09 22:00:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/09 22:00:46 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 22:00:46 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 22:00:46 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 22:00:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.425s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 22:00:47 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.490[m] 94.503[deg]	[grasp_sample.py: 539]
+05/09 22:00:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 22:00:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 22:00:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 22:01:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 22:01:11 INFO: [Worker 0] Worker 0 house 1 episode 40 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 22:01:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 22:01:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 22:01:28 INFO: [Worker 0] Saved videos eagerly for episode 36 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 22:01:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 22:01:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 22:01:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 22:01:31 INFO: [Worker 0] Worker 0 house 1 episode 39 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 22:01:32 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 22:01:32 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=0.35s:
+  episode_total: mean=156.64s, total=156.64s, count=1, min=156641.4ms, max=156641.4ms
+  sensor_polling: mean=417.4ms, total=125.22s, count=300, min=389.0ms, max=765.2ms
+  physics_step: mean=22.1ms, total=6.63s, count=300, min=17.7ms, max=38.5ms
+  save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3475.7ms, max=3475.7ms
+  task_sampling: mean=347.4ms, total=347.4ms, count=1, min=347.4ms, max=347.4ms
+  task_specific_sample: mean=343.7ms, total=343.7ms, count=1, min=343.7ms, max=343.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=375.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.7us, 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 22:01:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 22:01:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 22:01:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 22:01:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 22:01:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 22:01:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 22:01:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 22:01:33 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 22:01:33 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 22:01:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 22:01:33 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 22:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 22:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 22:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002833m	[env.py: 870]
+05/09 22:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 22:01:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 22:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 22:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9683127   0.21785285 -0.00283272] yaw=169.3deg	[env.py: 1019]
+05/09 22:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 22:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 22:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 22:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0595206   0.57078691 -0.00283272] yaw=-174.8deg	[env.py: 1019]
+05/09 22:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 22:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.23517791  1.01670995 -0.00283272] yaw=-136.4deg	[env.py: 1019]
+05/09 22:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 22:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 22:01:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.5ms, total=141.5ms	[env.py: 1075]
+05/09 22:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.968, 0.218, -0.003)	[env.py: 1079]
+05/09 22:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.3 deg	[env.py: 1082]
+05/09 22:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
+05/09 22:01:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 22:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 22:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 22:01:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 22:01:34 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 22:01:34 INFO: [Worker 0] Worker 0 house 1 episode 41/60 collected=0/10	[pipeline.py: 1044]
+05/09 22:01:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/09 22:01:34 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 22:01:34 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 22:01:34 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 22:01:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.406s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 22:01:34 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.544[m] 93.959[deg]	[grasp_sample.py: 539]
+05/09 22:01:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 22:01:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 22:01:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 22:01:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 22:01:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 22:01:51 INFO: [Worker 0] Saved videos eagerly for episode 36 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 22:01:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 22:01:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 22:01:55 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 22:01:55 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=0.39s:
+  episode_total: mean=160.90s, total=160.90s, count=1, min=160904.0ms, max=160904.0ms
+  sensor_polling: mean=420.6ms, total=126.19s, count=300, min=388.2ms, max=761.8ms
+  physics_step: mean=20.4ms, total=6.11s, count=300, min=17.0ms, max=40.1ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3794.1ms, max=3794.1ms
+  task_sampling: mean=391.5ms, total=391.5ms, count=1, min=391.5ms, max=391.5ms
+  task_specific_sample: mean=388.0ms, total=388.0ms, count=1, min=388.0ms, max=388.0ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=370.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.4us, 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 22:01:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 22:01:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 22:01:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 22:01:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 22:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 22:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 22:01:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 22:01:57 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 22:01:57 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 22:01:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 22:01:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 22:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 22:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 22:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002766m	[env.py: 870]
+05/09 22:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 22:01:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 22:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 22:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 22:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 22:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 22:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89886649  0.74151561  0.00276566] yaw=-159.1deg	[env.py: 1019]
+05/09 22:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 22:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 22:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.00443085e+00 -3.76318873e-04  2.76566341e-03] yaw=163.2deg	[env.py: 1019]
+05/09 22:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 22:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.14104671  0.65152487  0.00276566] yaw=-168.5deg	[env.py: 1019]
+05/09 22:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 22:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 22:01:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.3ms, total=180.3ms	[env.py: 1075]
+05/09 22:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.742, 0.003)	[env.py: 1079]
+05/09 22:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.1 deg	[env.py: 1082]
+05/09 22:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m	[env.py: 1086]
+05/09 22:01:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 22:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 22:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 22:01:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 22:01:57 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 22:01:57 INFO: [Worker 0] Worker 0 house 1 episode 40/60 collected=0/10	[pipeline.py: 1044]
+05/09 22:01:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/09 22:01:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 22:01:57 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 22:01:57 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 22:01:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.360s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 22:01:58 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.623[m] 96.825[deg]	[grasp_sample.py: 539]
+05/09 22:01:59 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/09 22:02:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 22:02:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 22:02:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 22:02:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 22:02:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 22:02:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 22:02:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 22:02:01 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 22:02:01 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 22:02:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 22:02:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 22:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 22:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 22:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024391m	[env.py: 870]
+05/09 22:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 22:02:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 22:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 22:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 22:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 22:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04849457  0.34162794 -0.02439052] yaw=165.2deg	[env.py: 1019]
+05/09 22:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 22:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.18495922  0.85337814 -0.02439052] yaw=-155.3deg	[env.py: 1019]
+05/09 22:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 22:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 22:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 22:02:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=150.2ms, total=150.3ms	[env.py: 1075]
+05/09 22:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.048, 0.342, -0.024)	[env.py: 1079]
+05/09 22:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.2 deg	[env.py: 1082]
+05/09 22:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m	[env.py: 1086]
+05/09 22:02:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 22:02:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 22:02:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 22:02:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 22:02:01 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 22:02:01 INFO: [Worker 0] Worker 0 house 1 episode 41/60 collected=0/10	[pipeline.py: 1044]
+05/09 22:02:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/09 22:02:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 22:02:02 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 22:02:02 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 22:02:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.399s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 22:02:02 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.403[m] 80.739[deg]	[grasp_sample.py: 539]
+05/09 22:02:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 22:02:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 22:02:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 22:02:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 22:02:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 22:02:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]