diff --git a/fridge1_minimal_wall/episode_00000036_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000036_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c60784f50265042c9635c52783fbb13f34a0c6af
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000036_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89ae1e4e569784836be0d8df910219096d9cb43ac26faf24e5163b41b7166c42
+size 627517
diff --git a/fridge1_minimal_wall/episode_00000037_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000037_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5755695def0ce0320ded97d08ab9c2ba574f3880
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000037_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d75e02420004ddc0b1c8c7816f5b3dc0a62963d04e5c24272d7a046a1f09c86a
+size 840538
diff --git a/fridge1_minimal_wall/episode_00000037_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000037_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a6e42f214b87bda5dbca8d5082b934b16d8e703
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000037_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35f074c63c546f88efea2b97923056a28121163a78133f782c4c44abd1bb49f4
+size 629971
diff --git a/fridge1_minimal_wall/episode_00000037_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000037_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95cb9eb49362c3c1e0c4b7d992712552701d6f28
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000037_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f6ad53309c5fa9381d7c3023591b91f56de07a6139ad2f258904a9254e3834a
+size 783005
diff --git a/fridge1_minimal_wall/episode_00000037_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000037_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..27df5658e77cc27e236d24e81cfd9d2de870f263
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000037_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55f1b2fa83a9aadfa8c85b309d7c354625c27b1ec82acb13055a5cfb5b353d7e
+size 675167
diff --git a/fridge1_minimal_wall/episode_00000037_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000037_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f7f2683f8163cd992d7a8300f7aeadf048106d5
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000037_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77b261a9e27cf0a78ecdc09033dea1d5b2b5b2f9bb7c4433620ae8411e6c1b4c
+size 121601
diff --git a/fridge1_minimal_wall/episode_00000037_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000037_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c93a4cac646652b93a9b4d6c15705972780311a5
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000037_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72346d6b28a8e0de7212a78aa76efba4790ca0eda1eddf8fcc241fdcb8c2aeac
+size 397465
diff --git a/fridge1_minimal_wall/episode_00000038_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000038_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2689bfb6af4db5feccb2aae3979006a7bfcbe878
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000038_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34e16f14ae0a0c0683bd01f5703d0ac62df6dc2314f07e6031569197b5fb7228
+size 929186
diff --git a/fridge1_minimal_wall/episode_00000038_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000038_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4554b84e30ca56733f7d477ecc11ec02a86ef30c
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000038_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02d6772299724d1a28221df5509140eca260499e2c7c7a5ce7839a749a6921ba
+size 608483
diff --git a/fridge1_minimal_wall/episode_00000038_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000038_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..449db1f9dc901b93d93e8edfcd25b350d62c7f3a
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000038_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ebce067d223b0bc5b6f93566d178260be97d4c0b8a934fd259bfb53ac4a786e
+size 827655
diff --git a/fridge1_minimal_wall/episode_00000038_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000038_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d18808bddc763d6c6234e4244daa0cee5a1739f
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000038_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee0b046b4f28cea5f8b3ed740b234bdf5a831f74ff5a894e4a7f9dbdd6ffdb83
+size 785596
diff --git a/fridge1_minimal_wall/episode_00000038_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000038_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e523814815a4f64b8108fb206c005406bb787f2
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000038_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a6fcb740d1bc7668037e440ab5a3f7061b7f1f833b8c3b70da99de652f25f6a
+size 494701
diff --git a/fridge1_minimal_wall/episode_00000038_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000038_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82a987f78aa1c9585797a8430f97106d59d66f9c
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000038_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a92ad7c1aecec67f0ee991d1fcce3acd91673bd942cacb8d79a6a1e57807861
+size 609286
diff --git a/fridge1_minimal_wall/episode_00000038_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000038_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..77c9e9d98e639f2f1894144ec6a5bdfe83369c94
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000038_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62507053477e24927d44cea7e99622f11de29371a43eb26c1681820b24050eac
+size 651172
diff --git a/fridge1_minimal_wall/episode_00000038_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000038_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..845db70728546d77f14dbb1f4ed079f6986ac215
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000038_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd014c054404f758647c1c297634f5ffaded74e821bc0a1b7bbd119d0a5c2749
+size 765616
diff --git a/fridge1_minimal_wall/episode_00000038_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000038_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4717993051ee61d0724daf144d42b016a60765a3
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000038_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bf583655f0416ec8a04914c80550b79d2d3efcafaf4083e6febaee9d06478d7
+size 585057
diff --git a/fridge1_minimal_wall/episode_00000038_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000038_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..319c1fec1eb934b7b1c2f47d86320be694f9c3d2
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000038_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:921a2a71b3d292ca8fa93450f1a84c15075a7ae801c06f9423fc9a04272fdd1f
+size 559788
diff --git a/fridge1_minimal_wall/episode_00000038_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000038_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f799de3154a113b076792ad6260ea8ab2e64e9a5
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000038_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f4e52ae952c1cbe8dbf078f2336d70b28e59905f507816075082b14c4d61cf3
+size 674605
diff --git a/fridge1_minimal_wall/episode_00000038_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000038_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1ea46557c1d99c97d01587ae045bff1b3ad97331
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000038_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6510c922535c70767b155045b737f28d4b39022eb7c49c9cad1f217bc3616c4b
+size 817926
diff --git a/fridge1_minimal_wall/episode_00000038_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000038_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d97bd2ac791af05bdbecaa162704f1d302910c4
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000038_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb1a99329669f63f312cf803304071dbe0736b658a1425770a8f3b4cb71cc168
+size 112771
diff --git a/fridge1_minimal_wall/episode_00000038_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000038_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a81daccb90a9289689ca01f67c4b57eedd87f641
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000038_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dc38f4bbf63382dc3f4739d17179835b1b25a1250d33361439fcc56d5cf4452
+size 136929
diff --git a/fridge1_minimal_wall/episode_00000038_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000038_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03af1f7de00152d7b0b19e075ca362671bb18363
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000038_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34323355ac24a499790c981cbe865c20bcb1441623b986458f0eb6bcb78302e5
+size 147319
diff --git a/fridge1_minimal_wall/episode_00000038_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000038_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a62398e630c49d5ef5155117ae7ab6dfd898e750
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000038_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78ac10f81d3a57bbd20f44a9e6512f3e9e06ad9e1303a6af2f22be65d9e33428
+size 353374
diff --git a/fridge1_minimal_wall/episode_00000038_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000038_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29c5049646371d5dbc90555c6583dd3e9129d89a
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000038_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3065e631fb731550e6a39f2e55b494cefde086439a24a1b8df6ebe53d23ff10
+size 465022
diff --git a/fridge1_minimal_wall/episode_00000038_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000038_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a60b39d198874ed6a49b0fbe542ea16bcd7be8e
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000038_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71433e1c3475cfb33cbc83b803a750e647f133e569eef86ead81e612a3b307da
+size 446994
diff --git a/fridge1_minimal_wall/episode_00000039_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ef3c5bda420ba753ba05f7e9956abdce219a6a5b
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d7370499a1c372e7cadf98147e89ad31651486527361dd9e5fee7bf8a6bea97
+size 886322
diff --git a/fridge1_minimal_wall/episode_00000039_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cff6a02aacf6bc8c9809cd1652cf21f61d995f8c
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4b3465ebfdc49664feb345de4cf2cd8ab7afefebff121a4d7799e2e5c8efacb
+size 751628
diff --git a/fridge1_minimal_wall/episode_00000039_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c5f22ae0180f718034faeb113548d92e9b48b1f3
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f841f96f8cfd19529b5082fface0c2b16adc04f4a290034c3b27ec3109e586d
+size 921411
diff --git a/fridge1_minimal_wall/episode_00000039_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3905b58f02fb3d3306b6324f0d7734fadde9ac54
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bf9ca8b67144fe3a9cf26c16ededfc0109b4dce8017dd54c326606808243332
+size 944131
diff --git a/fridge1_minimal_wall/episode_00000039_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7beff5ad1c53b8d1b6fa3c08f9d442c1328b278c
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4db5573ece79ae40fda6f1732c5abde5ddb6ef73cab0c89aeb138a9be90db3a6
+size 586771
diff --git a/fridge1_minimal_wall/episode_00000039_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..440c54d7be311f22b4affc99d78c59b6ca97ad59
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba7a066e0674352b43d33061f7c3e5b494c224e387ea07c29ac9ef207d026e57
+size 519724
diff --git a/fridge1_minimal_wall/episode_00000039_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..00e302cf42bcb3d7d28becd38d26c80d3b786bfa
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c423303079f95e867c0709852bd9a4b7059ab7f47f64db4b8ec342784226b9b1
+size 646523
diff --git a/fridge1_minimal_wall/episode_00000039_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..685d72e39d19a5d45deded9dac54a7e49430f960
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:716a82ab1f8dfff5bbbe420fcde0f66624ccca0a286b43e484db741b9aa8c11a
+size 803627
diff --git a/fridge1_minimal_wall/episode_00000039_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b5b3a91866403e84431de6469f3e2b9dea8be3e
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce8ada3e7e1b2f2802052fce570ec9c20d0cc0e260e4d0962d5a4c11f11c9d3c
+size 536230
diff --git a/fridge1_minimal_wall/episode_00000039_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4ef15174972b348d58d5e57a4bdee64404cb5f17
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ab9ae92f4ed0d0b9cc4a768a47546bd9c7ba8b2a4c3796c08b3d43d53d31a3f
+size 585551
diff --git a/fridge1_minimal_wall/episode_00000039_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ff444574543cb04142789eda1cd1932b8df358be
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b8ee7e52c75e3bce5a8683bc73eaf171d4c7debb23f439dbd3db3ece70e6e48
+size 631975
diff --git a/fridge1_minimal_wall/episode_00000039_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..72bcad94ce5c0ef8d8a739a0e9ec865ef4fb3811
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e2a9712230f600af6bc6c159826d64295913d412e084e6468850760e36b7c61
+size 846871
diff --git a/fridge1_minimal_wall/episode_00000039_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0c09886a7a632939684573b4d5bac7509012399a
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a434c53567297fee5659886d9861e08c234c71b5adaac11507b899107896808b
+size 613250
diff --git a/fridge1_minimal_wall/episode_00000039_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5e4da9c9520ebbace9593dd484c1f03eba44a2c8
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:511ef115eba6763cc1c8a5d07236944d7939788efacd14d4d77b0ac9771bfd77
+size 772080
diff --git a/fridge1_minimal_wall/episode_00000039_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bced57f84a7b523a7c18c4e946061e498ef6b96f
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11cdc4bd9ffe3206d22d80938a0c7dee0c79e075d5cee9d61a8f18621fae80ed
+size 693586
diff --git a/fridge1_minimal_wall/episode_00000039_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de0ec2ff12715512b027ad996ef8be76eb194b6d
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0543e3aefe9eff5784a5ad94a70e0866f2e96c3cb20e4a4b901378242a37ceb4
+size 637406
diff --git a/fridge1_minimal_wall/episode_00000039_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f66c3ad9f1d80b79a33dafcc85d0e834ec9adff0
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5037ef3bca1713abafe3677f1e8e3895704ec3dd4d34979a2d868eece7d7dff5
+size 103379
diff --git a/fridge1_minimal_wall/episode_00000039_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..14c7c84114c78aefe8aef8f3a1e734dbad85d805
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85d2c775de7ac45617605b1c9ee48c72b3614042cf9365b3c6b8e80daa08d9a6
+size 133473
diff --git a/fridge1_minimal_wall/episode_00000039_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd859bd57c288d37b113384ffc9712a1dfc4dbad
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c59b47755e06c3ad7e2c0c8c99f040612a2456a0ad57e844320d3ab722d2862f
+size 110105
diff --git a/fridge1_minimal_wall/episode_00000039_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1592105ba17e34c6ed7adf9842a8ae8115e294db
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3555cb0fc7de336109e32f3fca46063d351197ad0f33e81cddb914474eb427c
+size 148039
diff --git a/fridge1_minimal_wall/episode_00000039_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3fb8ac89fe5115b5e4f0102dea0e635a9816520e
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d215f8fe545403737ab333d839517bc8b068891aa043d9655bb90392709e2a55
+size 373761
diff --git a/fridge1_minimal_wall/episode_00000039_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae1ef5cb6adc7755f51676304ec1afaca082c8f6
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e11e4c86bb3d36077e6fc43b881abc95e2046a0d8514eee16a280675292212a
+size 409742
diff --git a/fridge1_minimal_wall/episode_00000039_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..25c3ce44d027d1ba41cd95c9a93bb584bafbdc9c
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ff3cebdfbb8c45930464058ca19444cf88a15aa2413afedcb12ff8560fa9a8d
+size 369893
diff --git a/fridge1_minimal_wall/episode_00000039_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000039_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c0e7570d49410999a66b9dc4cf63f941049febde
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000039_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cf38bb93dc57325e6bbcd84994c117fafabcd38e51abbd1428a39250bba4e14
+size 465432
diff --git a/fridge1_minimal_wall/episode_00000040_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b62b49ba5476e5aad66e8c908b77723b58abf3d
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a8b4449be9de5eeb93456ec5a717ffcdd1e144da15e03b25661d8b11fb46258
+size 673326
diff --git a/fridge1_minimal_wall/episode_00000040_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0d06f02509b9a10f72f91aaaeef242c9dbfa5235
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f5812e6a2f895de8db4514391cfc67d32e7bc982e5c48300a2b50c6ddc55f83
+size 1038730
diff --git a/fridge1_minimal_wall/episode_00000040_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3c0df7ece36d577c54ca99f85d441d91e753b40
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8849dfb18750e447b143cdc8022ee0a4fcc2dbbba426a06c1765013f52aaeac7
+size 735631
diff --git a/fridge1_minimal_wall/episode_00000040_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..60ea419eace97c82810b054ac066c2f68ba5dd06
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba20fc111a7b67710cdae9d7a0aa2bc9b5edd17ff1f094a2a2a45fe21178de70
+size 885705
diff --git a/fridge1_minimal_wall/episode_00000040_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ebfe1645c16642783f39d192aac5b086d1911c93
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a00bfe924c5826b59aa607fd966d1a94abc4e23d3da56e5292ddd27c08289e26
+size 513896
diff --git a/fridge1_minimal_wall/episode_00000040_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..204b812abe2439962957b7f1d435bf466542c683
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27d3a6e3e519ab3150aac9698ac944bf8afab7655cdacc6eec9e128a39214ccb
+size 760258
diff --git a/fridge1_minimal_wall/episode_00000040_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba03ee10684be5e3818ad56bd832f0e46b300401
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48a48d8a55fdbdcaadbfb40b3d51167f30be7a580c4f2bc5fcd203a6f26d82aa
+size 599124
diff --git a/fridge1_minimal_wall/episode_00000040_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fac9cbccd040d711e1231444147d9f314e373a89
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5025b6c005a580bae2a46d3f0ab9752f8153abbfeb10b448dc6a2e1f1b82a2a
+size 602594
diff --git a/fridge1_minimal_wall/episode_00000040_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a72fb62d087c65ba367a978e94722fdb5703e420
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dabfc069e7cb3b68d294e515b7439075e016d1983fa18788960000c5eca1aa4f
+size 611438
diff --git a/fridge1_minimal_wall/episode_00000040_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b29c3edb1c2e1009e9465acdbea5c85d5fb8d3fa
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5114ba0e0bb394450a49651ac1b8b531655e6a88e5375f1bd8c963e7fc47cca7
+size 547452
diff --git a/fridge1_minimal_wall/episode_00000040_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..81a2db67f4741064b7794551fe4c0c37b46db903
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bcddc93da28fe913f4d5dbeae08f52daa982876ccdb7cf8014f9e0615b6ead3
+size 651697
diff --git a/fridge1_minimal_wall/episode_00000040_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fe2693dee4f405eb629c8ff6479c244157b85fb5
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c269b41ebf4821e7df0a36dc0bd080048d8b53a2a66d97251e81c20082d8bf1
+size 591500
diff --git a/fridge1_minimal_wall/episode_00000040_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d9d868532399cc639a95d0881f209ad7601dcbc
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56bf8d406cf7b2f63a07b9659278f9d4a794279525ddef59045aa9dcc4a8ba51
+size 680057
diff --git a/fridge1_minimal_wall/episode_00000040_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8dd8e09f13d0cc22d2e49ae174eb0197c0c31119
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1ba49620aa6910c8f4aa40ff346c565db0fe2eb170d0e04966ff08d151669a5
+size 638556
diff --git a/fridge1_minimal_wall/episode_00000040_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..42ce278674fbb492c737fde52e90f92fa104c289
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19091fc733aefb92b2a2932ab73e5606147dacc5ea5ec90b75b69535b4a26a74
+size 681314
diff --git a/fridge1_minimal_wall/episode_00000040_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..62f2b3c3cfad8fe935f9667eccc4b85e1d4588c9
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d7f9d4b236fafeaadcb3b753f871d05cbd9f1d054f85633b8dc856ca4853250
+size 623363
diff --git a/fridge1_minimal_wall/episode_00000040_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3825eb93bd2df85fe8a580c30fab3a4006b5da43
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f9c995db05da223d5768f645461f0c3e32d27c8ea5694c30adbd58585450439
+size 147850
diff --git a/fridge1_minimal_wall/episode_00000040_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad019e4c4d67ef8fdcf3f76c7c7464e0b5f36055
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:618c7056f6b18c8554182943069bb68a1c22282caaa0e347dff8a9565470c7fd
+size 122004
diff --git a/fridge1_minimal_wall/episode_00000040_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..465ceb38e86e1945dd901b4249e8a74c9edfde17
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3317804391b57a07bf14608f3f44a7ad151467c27ec02e97c65c4c1cb39f06a8
+size 117456
diff --git a/fridge1_minimal_wall/episode_00000040_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..182722ca0f4bd98e0a38720babbe8325a7521713
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ba4ae77bb02472f9931068ff9bf356c3ee676a1622976ec315f36b547d7bd18
+size 106356
diff --git a/fridge1_minimal_wall/episode_00000040_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fecd13834e169a1d3aaeb705fdabe72772105924
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f737dff779e4eaa8f79e2fe1b57ba472486b5694a1fa31816f70876f6d8be91e
+size 501848
diff --git a/fridge1_minimal_wall/episode_00000040_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0baf6c5c407499b6b97bfc45b7b0862bab8d6535
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d26241fe66185d6bb5c5e48d6097f5c4c1009b34b4240ad9219676d5082ead9b
+size 391766
diff --git a/fridge1_minimal_wall/episode_00000040_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f477fcbe23777f1e479906ca7dd8ab7954bdafb4
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:794ffe169fb50d45ebc43e28054cdb66517fe287d9bf5a4d63bdf6edef54e8c6
+size 404045
diff --git a/fridge1_minimal_wall/episode_00000040_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000040_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0fa6ac7944902e242c0792735f7a5d4271382f80
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000040_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e72fc0264ce0c12c817fdb3c3a01e9f136fe2777edfdceb6ed246a2e860f11d
+size 387882
diff --git a/fridge1_minimal_wall/episode_00000041_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db74da7be03cf2304ed32b969b127bc8a0af02e0
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0d97f43be68afc530053a772a4be7378cecf28359ca8c92bba75a5987a837b0
+size 888366
diff --git a/fridge1_minimal_wall/episode_00000041_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..581a33841a0bb2e120d15fd88188d0fe9c278b27
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:029b52602239202d9e216d7f2a5917b54d437b790c2a8890000c3ee954ec1bed
+size 1008946
diff --git a/fridge1_minimal_wall/episode_00000041_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9fc7d41354caf4b8d2172d180000059dbea964d6
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b3a7babdf79612c02cbf08e93fa88a554b6aa03e7df14f732444eaa68b6567c
+size 688285
diff --git a/fridge1_minimal_wall/episode_00000041_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..47b96ecddb00cf1b489849a6d1b11d52c428dd7f
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fbc4cc40a4c7b7a5ee073e1983c75124acea195a8c18e3fc3800ae799961752
+size 806711
diff --git a/fridge1_minimal_wall/episode_00000041_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e16e17299021b9cb195b8bd222ecfd7e05cca0ab
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afa10fe8670872afeec3c1eeee782294236fa56e0b6b9ae0e0affe992f6809d4
+size 646632
diff --git a/fridge1_minimal_wall/episode_00000041_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a96e1c93e88343f8477cf51348375df6c59fc0ae
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aa5898e043def40f9555a87a8242b01cb29187a8bc3bc5a66751333324d1b8e
+size 731517
diff --git a/fridge1_minimal_wall/episode_00000041_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c5bc3249632047d7036198c2c230dbd79918fc04
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:661abf189c2a7744a931eb48e261cecfb986e26e8c053d0f26a0a884eee0b592
+size 549745
diff --git a/fridge1_minimal_wall/episode_00000041_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b8e5ebe352927affe64cc61383fbecbdf007d68b
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da7e512999156c82ae0d2a8076136f8f54c80c2ff0cd27b9c6bf445bb700fca3
+size 625233
diff --git a/fridge1_minimal_wall/episode_00000041_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..26d7661e3aeff64410cebfed048e8733eede842f
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7acced3f51f7bb3ee1a3c2fbb75c479d1a1fd4aae02154fe36425f95dd752258
+size 640462
diff --git a/fridge1_minimal_wall/episode_00000041_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..31ea59d923ff9d76a61891fd2773aadbbc8bd7fa
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff4df9e2593b3c2bacc5deb396af9694623fa9af16b38899376560350bf9dff5
+size 529377
diff --git a/fridge1_minimal_wall/episode_00000041_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0e31db93265772d70cb40236d15ef5acbebb5d6e
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a5b3e0925a8af94c166b34c4b06303f6fc7292ccd287b8b5ed7c4092180fffa
+size 709598
diff --git a/fridge1_minimal_wall/episode_00000041_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59137643cfe2e5164c2e965e55cd0cf65f797ea7
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:825374e0be34e167b2cf56ceaf0002cba3c98a0368bf2c0c4a9c90595ed4118c
+size 606382
diff --git a/fridge1_minimal_wall/episode_00000041_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a41b6e5c4b7b294d0db7e9acb2ecd880c917a07
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfef67a1f069716c0c87de860c8d316c591cfd284e48930f814ac0a908c08b80
+size 818673
diff --git a/fridge1_minimal_wall/episode_00000041_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c1187e585b38aa16412fab7e9f1ffce78b7d151a
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8dc16c5d9dac2f3cc3dcba5a50a7f070e62b985beb48ed1a79e81cc14afc743
+size 523737
diff --git a/fridge1_minimal_wall/episode_00000041_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6c09f0f5a5a77fb61f9160a1e7b1631a70bf4871
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d28545e2e7f46fc368b1f8e6027cc0dfb269cd5856c609e410a7cfd314f2e6f
+size 657417
diff --git a/fridge1_minimal_wall/episode_00000041_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22b688eadfc637b8d8354f113444d3e0c0b2b182
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ff3093892532177853e61655297a75aaebc070e76c1b1ce72f6984e7cf67ec0
+size 693754
diff --git a/fridge1_minimal_wall/episode_00000041_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..946a83a3cdc7f3d2cc256329922a752229af4182
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e17923146a6933d543953157f828dd27aea24cf40e905f6ecc390d8ecf11a69
+size 167845
diff --git a/fridge1_minimal_wall/episode_00000041_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..120e9be9435c86243853a1766b2e18168ea1eae4
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a7cacaed9fb6774a6f22c71e229396c1f2dcc6375effeb309c40902a0b63ecf
+size 102693
diff --git a/fridge1_minimal_wall/episode_00000041_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50e4efad33150a0feff4f1c0f76c03c691efbe93
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2b2263e8042780a6a0b851a128e19f8267ab79ee949062fb26bdadeba794b5a
+size 168313
diff --git a/fridge1_minimal_wall/episode_00000041_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d948676f2f0ef3fe05c3476b3c35f7f14f2be7d5
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b05afe2f06cec5f2b2426216eb12b43dd72a90e7ee386cc759d303f5ecdf6a53
+size 134498
diff --git a/fridge1_minimal_wall/episode_00000041_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e9b6a7569d02a147e92b2f15d96a014548edb11e
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a60b5b6dea88d29bb54eb884efc2e8f3beae7dd8cc445654fcc666cfc0ecdb64
+size 443493
diff --git a/fridge1_minimal_wall/episode_00000041_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a583a100a460b4011b891cf75e97c745bce485c4
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3553792e98f6f3d010ab1b6a3ff2f2d8e365440ab5e38d49f2e25a05de5d9e59
+size 342260
diff --git a/fridge1_minimal_wall/episode_00000041_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..955f9330b56e9791d0ff4579382663e4b2f93e2a
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19873efed694a40262e82365909f69c91a09aca78ace803eefc25fc30ce959d6
+size 488245
diff --git a/fridge1_minimal_wall/episode_00000041_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000041_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8adc4179d52e159760080d5f98629986350dc974
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000041_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db609f56280d1c83daa0d2cfa63548fc39538776c0b60bff229f2f507516c46d
+size 406214
diff --git a/fridge1_minimal_wall/episode_00000042_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3832585363daf2f99f2f5d60041013a420c1ba22
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26b59fb8095903e6fec842877fb1afc976fc1d357be7f6b78d902c713f5eeedf
+size 726853
diff --git a/fridge1_minimal_wall/episode_00000042_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ff2012f18068b3858749123c77650528cdb1d833
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c9a24ac36ef4b4535e4d03b5e13357f2f43f00313608d880d24c8ee1664703f
+size 846719
diff --git a/fridge1_minimal_wall/episode_00000042_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..41f8b8315d38d07e7b753bbe0c6b12b765ff0e1c
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4bdfa8cdd298b018949bc81ca0e7e511949143c69e38510c6cc385c03c72079
+size 915931
diff --git a/fridge1_minimal_wall/episode_00000042_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bbf9fd18679ad5613f97a227ed057fda85bc11c3
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac371fb64c527e0f5e21155bcfe5439e4f9cad19a83b7732d2c78c0c8b97f72a
+size 1089983
diff --git a/fridge1_minimal_wall/episode_00000042_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91321042b46c76379fee4bde556aa2c4b81e9755
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bec9dcb63490fda34427f678406a66b113882c6228098e6b9888ad891812ef8
+size 562921
diff --git a/fridge1_minimal_wall/episode_00000042_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..40d7bd7d93468b8e052ecd40a3c1fc3772716169
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e16145f0ed7571082b83625f8e9645099402495a743c5f4d82de074cdb3cf16
+size 648673
diff --git a/fridge1_minimal_wall/episode_00000042_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e02f3729f7df9c42ce5b2ed71c5fe67e63c6a256
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6376061e94ae59e2f89f1bfb80b8318e587a9484e16abf203a8c5c6710b69e27
+size 732166
diff --git a/fridge1_minimal_wall/episode_00000042_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b3308a40c7acc2e393252e0b567da83c14f0fe3
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48369e5d2871c14e2f701c3c823b76dc0d0e6bb9f26b4a957db99da1cf1556c3
+size 797842
diff --git a/fridge1_minimal_wall/episode_00000042_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c9bcd6441bf4c2bb660ba66ec4bfc6325caabddd
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dcf9b8d94f6cb98b0f007db94571c9170cdbd0f194c8b03d7e7671cbc364d0e
+size 551796
diff --git a/fridge1_minimal_wall/episode_00000042_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..99b45884d5dfe719a58eec995cb27e1686c28e12
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97fd895079023d3bfa70642b1590cd9e51f9625f5682069bd79841010848ba41
+size 814977
diff --git a/fridge1_minimal_wall/episode_00000042_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2aa02eb4e26693c754982cff6da78241de33a034
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2c05512c6c50a704499669e95bf89931524499cd1fbc7efadd16c25b172df75
+size 625426
diff --git a/fridge1_minimal_wall/episode_00000042_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..408efa75ed4356928dfcc55beeb9a11ea2a8b266
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f1431cce057ed61b43554f4f2e31e99371c188cac4b59450f8617dee1dc911f
+size 581041
diff --git a/fridge1_minimal_wall/episode_00000042_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e6ec00767179161dd905ecdc3c31a7262b634d0
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43635a61196c2dc5c1ad6e5303f2a0f00b399d16f15188f92fcae3bf01d4d605
+size 646492
diff --git a/fridge1_minimal_wall/episode_00000042_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fcd498f148b472a774034c392a019853a3e40cdf
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9401626b151ecb615f27a7a5b01c91d25c571596ee4ca28eaa0e69150af54226
+size 610475
diff --git a/fridge1_minimal_wall/episode_00000042_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..def0682c568f7d2c3b745c9ad27c27477e51f085
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a92c53a4f8fc3d3fa032d5f9217bf93273ec772bca88f2f345ae6e4baff6087
+size 516075
diff --git a/fridge1_minimal_wall/episode_00000042_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d6236bdbc61179bde5304a575d031578169cda43
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58e3c53ba32f233c570d8675b08c5715c63debe8a22210121e26c2d871ea98dd
+size 600249
diff --git a/fridge1_minimal_wall/episode_00000042_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..afae70f3c34fa16d6a9e988f068e9e52df645ca5
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64ff51b3daf30c0c044f00c866b31f32034ce8d52f9b47774e64674c41dea8bc
+size 121432
diff --git a/fridge1_minimal_wall/episode_00000042_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68dfe1ea774f6193a0cd2f0e789e3b51ab62cede
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efeba0ff4966755609e99c76e7648ae23aa9e9b33cf76b8451fca0fc603524e0
+size 106001
diff --git a/fridge1_minimal_wall/episode_00000042_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4e8cd311a4c0d322d01543ad69263fe9c701df0
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:433d033248e1f1bc783c8578dbba3a7cb495b691801a2bfb2ee7c660b2a3209d
+size 99937
diff --git a/fridge1_minimal_wall/episode_00000042_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..31666c6b6b4b906a7fc7e87a587931014bbf8f4d
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0c84ff8f9acd16445acbd8a15614bfb1889acd1333086b46d0fba618de84dd8
+size 110061
diff --git a/fridge1_minimal_wall/episode_00000042_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5956ae482e1fdf710846dd5803671191a75fdfdd
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e0a8f03abb2d452397bf719fd228312d3191fafac2fcb08ab434d61ad65f02d
+size 409838
diff --git a/fridge1_minimal_wall/episode_00000042_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b1bf2750573651652e2bddedd780a733142f1b9
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e34c8a075ae887ade725fe22ddcc8c7e1c2bc36093f41d28eeae74e23e46028
+size 375686
diff --git a/fridge1_minimal_wall/episode_00000042_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6abee5d73fcfd66f586b3ed4012ad7feb0c85717
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0065ad73027e5ebe6601cd59236e3640a73b16ced6fa780435339466926756b
+size 326295
diff --git a/fridge1_minimal_wall/episode_00000042_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000042_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f381a53edd303017c2d2e1c1ca571a814b9e0e90
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000042_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81d53d701f7515c27ea1d4bca556e3ff8f089260c29fafad324426108c71885a
+size 381318
diff --git a/fridge1_minimal_wall/episode_00000043_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a9b0510faddfa7439cb71e3678bb336275c97c14
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aec095c46891940294b9941c0a33a691de4b0444f2261bb2966f532e79f9fd63
+size 734960
diff --git a/fridge1_minimal_wall/episode_00000043_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc215da38b9c79e40ad66578a61b2a6d6fe3a7ab
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32feaa348f773d219930bad4b7189d244ca177d4b57f358fd9c078e039206920
+size 1123156
diff --git a/fridge1_minimal_wall/episode_00000043_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..974e6289bc4d0e2e9ccd507d116843b65bf75341
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f520dd750d2deba5a0601faba392288e438426ba9fe118de7377e75fd81c313
+size 779592
diff --git a/fridge1_minimal_wall/episode_00000043_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..053246504af30a1d590504fb63846ab8764389d4
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e94e7610fae3fc71f5eb85e15f9dd39221e48a9855f0ab204c5d0879efaa6e86
+size 790613
diff --git a/fridge1_minimal_wall/episode_00000043_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d644c5691c63ad92dfad5be5684dac73ca939fa
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44e0ad2cdba114cb7fd171c5d30de734f813d6577fe5ce18efbe34deadce185f
+size 553174
diff --git a/fridge1_minimal_wall/episode_00000043_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b27e30aa62fa7f52efa9cc82962457e42073c895
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a2495f88b304253e0fc5f1fd3634948a53b65942ca3105e35d91364fedacd88
+size 811090
diff --git a/fridge1_minimal_wall/episode_00000043_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9afb1772cf579a5e90ca8f2d3c8a4f3372134ea7
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c01d6dae46b227c406332344174b04971af6ae947f0e0f80b104a7b175a21d82
+size 632014
diff --git a/fridge1_minimal_wall/episode_00000043_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..27cf404e1b445b2a150ce63c8bc95da3a3ab6bec
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f8c97d0b7bad0f88666c46bcdb839825eb03017aa669035641f7793085c0c25
+size 698027
diff --git a/fridge1_minimal_wall/episode_00000043_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b733c05c25aff327ece3b21776dc372bd5a6727a
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6881716ab62c648de8a64a460d4450be88b6be4ca93c0b934c0a823fad9b7376
+size 740541
diff --git a/fridge1_minimal_wall/episode_00000043_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..54eaa93a3b4c0608e7507d03546e4d810cc84915
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f45db40ab9a2d279abaa35929cc85e12daabb21e416e09a79145139152b51c3
+size 643862
diff --git a/fridge1_minimal_wall/episode_00000043_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7ac6589db2956cd03b556483d1e3e9db94f0cdda
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9535b9969abb49e33227f70d28a188846384963a632b9c8125850890576e9f45
+size 611911
diff --git a/fridge1_minimal_wall/episode_00000043_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dfa77158b07f1ed4879fe30ccb4747f031f876d9
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35fb2165d845a4d326f5bb8fd1af857487be1fb9d6a6e8c765fbc90665052b72
+size 616589
diff --git a/fridge1_minimal_wall/episode_00000043_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea3f306ec00d62b357df2889923fcbea979f5e61
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99ba69eabfc802bbadc663432c791cdb95702cfcec1d30d975f36c346ce58668
+size 614481
diff --git a/fridge1_minimal_wall/episode_00000043_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..12b1a31e59f66202d46aded5584c7c3766c33b31
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4e803962f7f4c89460b7c3c15db06d656a113f6aaf6a1c9b9db5ffa13003ace
+size 635516
diff --git a/fridge1_minimal_wall/episode_00000043_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8bd41181380c90798cd995ef8e3a5c8d1663511b
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8096e8db049a8aa7faeeab13354a0edca946919b2e0d8b595862f071905a5ec
+size 527729
diff --git a/fridge1_minimal_wall/episode_00000043_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d691634c2bbabb9c8777c91cf824fab7ffdda191
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b90debe940295a959966c3b8f1fd0fb8cfed12d7be6bfa4a235d69cd547c2c7
+size 549338
diff --git a/fridge1_minimal_wall/episode_00000043_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0e46cb831f0340f7933dd37bf90ecd0ad1a6ff62
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7483bfb7ef767be1e735816f32d4ab93c44e990f56f9220048223402abf2e9c
+size 112274
diff --git a/fridge1_minimal_wall/episode_00000043_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a6c990c45bf2f014231a49e30f754e42267846b2
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e15d2ed8caece6666bda8334c13ded625cf1f3630b403d963ef965baa741f8d
+size 109505
diff --git a/fridge1_minimal_wall/episode_00000043_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..36514b70ada6daa20373fbbc9ddc52e40245175e
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63aad3308835a950326c6a2b25ba5fc0ab33baa13afd006f527ba0b285eb867f
+size 114549
diff --git a/fridge1_minimal_wall/episode_00000043_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea7ce142601aef78876083eb3b6e55588915eada
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7db5a214d1954de0dd44630344441baf02f968a4029ec789dd52d9d53af7a0fa
+size 116655
diff --git a/fridge1_minimal_wall/episode_00000043_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca5bfe5b9c06c09b8917208b5b13980fff7051a9
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b08cf69b101110a1b0201c8934161c2b6fc5b99ecd80e5b3943bc22df2036bd9
+size 436844
diff --git a/fridge1_minimal_wall/episode_00000043_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2bb268a70f9413d616835bd946f2789d4dfae1e7
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f111c6d6fe8d42ae2b93f3de93c55114bc7a697bec2f2aeec265d2b6abe6fb6
+size 375534
diff --git a/fridge1_minimal_wall/episode_00000043_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e850b53e5b62f9979c8f5b4dc07aa9817e08a71a
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2139b7cecc5f256bdabe8612090349c7c3dddbfb013d48b84096e8b56ab8472f
+size 356582
diff --git a/fridge1_minimal_wall/episode_00000043_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000043_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da643e346c712cc26429afd57a3cf2eafc2ec95f
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000043_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb05798f0cb908630fbce78cbedd35b08a6f0f5674fe9599871a27633442856f
+size 415531
diff --git a/fridge1_minimal_wall/episode_00000044_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61712789b156f66254567efe1763981ca698badd
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac76913eb10cb840df74a649673a402d8aee692d0ae1c8a244b98692750e9ac6
+size 979742
diff --git a/fridge1_minimal_wall/episode_00000044_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea00655b2ce4e158e4d3b8427e1b25a55f697b6a
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70e192aa8c73cb4e46eae0de8c8dbd70b77112ef86fe5a9c8715bc77fa90082e
+size 886719
diff --git a/fridge1_minimal_wall/episode_00000044_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7fee90e194bc877102690f5bb1881cca93b44273
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fac235731cfd656dc520b85572034769ce0f50748157cb36b3e2797aa6ecbcf
+size 821717
diff --git a/fridge1_minimal_wall/episode_00000044_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6eace8774e6db816a6221ceab4cc649a922f385e
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bac7d63b4cd2979ea9da50d4ae09cf3550581861d0f2c65719d7a804a286aa4d
+size 789328
diff --git a/fridge1_minimal_wall/episode_00000044_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9883a2ae0305008523d8c217328f846a37b0181f
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f2873d0af4a784b44af7e4bff1a64fca0a92328204e9ea179b8cf5707a6ae49
+size 786566
diff --git a/fridge1_minimal_wall/episode_00000044_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6347ae57ef4298063f5b49efeb7d8ad1c52796ab
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb4ec1992f2521ced332aed46b4ca7f53975a88b73cd097ef20c13cb32101153
+size 656397
diff --git a/fridge1_minimal_wall/episode_00000044_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b0e3c405312e34cf6f4b9ee4a68404a971db5d3
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb4e6151ff4aea8b051f0553c36e2068c0c585953768e431bcb2129f48369eef
+size 605659
diff --git a/fridge1_minimal_wall/episode_00000044_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93928e038a09d807ee3b66067b863e567be273b9
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bf9b799499697363ada1a9d693e32751488f29d2b4ad995201973fbca6d63e4
+size 651102
diff --git a/fridge1_minimal_wall/episode_00000044_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ab13118dd3e2a12de43d494d3affa75d556165d
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96ae7a2ea8a98427360760fee61203629940e8c05255996390d62bcbbe9acbf1
+size 586969
diff --git a/fridge1_minimal_wall/episode_00000044_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b0960e8e007a415ea3095fbb4dc6cf711a45ca8
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42290d801d038bd97b329080fd53957dbfc887545d035f33bbcc6f89993ba48c
+size 631047
diff --git a/fridge1_minimal_wall/episode_00000044_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2f773ea449538175f09a1e4c25d858a40e950a64
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:367142a1196fa9efdcbc57cd4c32f246b7abe09f514a6bac57aaa32e8154d5f5
+size 587403
diff --git a/fridge1_minimal_wall/episode_00000044_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cdc1164825f143de7becbbc7a0e7dea3f043c75e
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2189a217747f339990027e72b2e06b41fbd33d0d65c0f15bf3f1ae35b4e5acf1
+size 776127
diff --git a/fridge1_minimal_wall/episode_00000044_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..10d29f8dd5e2ba1f38ce41e1677444dad7da006a
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f840a29ff038c240bcde06bc640abe035ffa1c30d5b0146f2982aea5afa06e9f
+size 595134
diff --git a/fridge1_minimal_wall/episode_00000044_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a032b5d8ee178e84e3a6d9f3fec19ab5020c8eb7
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47819353fdc8545c348761ffebcd4d8248848091c1414f8e179dfcc87f6d59a3
+size 820167
diff --git a/fridge1_minimal_wall/episode_00000044_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..acbf1d4bb59304881016d8c17e0707dd5b086766
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0eba45327f6ed0572dcc2adb42083397099e22e8fc0849c0aa427802b632e7d
+size 592082
diff --git a/fridge1_minimal_wall/episode_00000044_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5ee06e11a3c37ec3794c7d7ac5846a5a34657920
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad348fbb2b9fdd3b44cccafc2c7f840c2ab2a30a5abc837573ec88bda16c7d1b
+size 748147
diff --git a/fridge1_minimal_wall/episode_00000044_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d1fb4a177520d25c765c1a4fc01230bb4de3b13
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae253133ca25f1debd1ee1deb5a2c241d45e4361f82524eb28a4aa62274cf4c1
+size 113560
diff --git a/fridge1_minimal_wall/episode_00000044_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b3249149627e5e85269f039e44a0571cf0e3f1b4
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfaf7bd727d876e03133fc49cb200a932acdda4d18a88c869ec409f338a9b61a
+size 174993
diff --git a/fridge1_minimal_wall/episode_00000044_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b3ea16c1c0ee920b61cc07751f1896a5459d0ba2
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d65d2ac6fa6ff3b89f98ff2a1bd68df2c5269f1b185ea940f722087b93611306
+size 101701
diff --git a/fridge1_minimal_wall/episode_00000044_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..54a339761f5b0999df8ac1b553ba53e462af00e1
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a83298b0fc677147b747456c1aad0a2896d47645f91ef66e98c0265b19a6d4c
+size 170316
diff --git a/fridge1_minimal_wall/episode_00000044_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af4d581862f66db59d8ff0069cf82283c95c7289
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85a5ff4a0df47b77ec25e28dba60fc35f51b19b0d507c972d8423aada59a0fd2
+size 344109
diff --git a/fridge1_minimal_wall/episode_00000044_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93a9db3763fd2f1fbb5106798810704befa1d19f
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d227248737ee1889cec81fa9176daab417a9307f4237900a7d132cec9df5bcaf
+size 445108
diff --git a/fridge1_minimal_wall/episode_00000044_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..579fb7b088093825e80afce587e93cef5dad4500
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9727a405783136da8fa2b2f705fa0ee60b0e84568e06678c290be5d2931a51c3
+size 295278
diff --git a/fridge1_minimal_wall/episode_00000044_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000044_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b3b14768b170f32a6367ef954c843ea59a303ebd
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000044_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e54de8afb8aecc400108963ec67b86457cacb8d56babb54971e26eab9e3952b
+size 445749
diff --git a/fridge1_minimal_wall/episode_00000045_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f9bacdddfb16252bba4407db53c739edcb3e9909
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceb39e2449c212b60e57f20bcbba521c8280fcf47fcb23b018d0f251a773b995
+size 1224868
diff --git a/fridge1_minimal_wall/episode_00000045_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a4ab70e4631ef489d9d38161a4915668ad210905
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3efc9a2d8f7f8b90dee68efe7cc9f33bb290ce85cce5abbd40f6c9eccc274b4f
+size 578774
diff --git a/fridge1_minimal_wall/episode_00000045_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a0dec1bd2a10297a92554a2ff91d9038a4b70492
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7140bcae5f72ced32588257f9c3ead3e07d3853922b15c5460e8f8948bd5ed01
+size 557826
diff --git a/fridge1_minimal_wall/episode_00000045_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0c4640ff7b1dfc1683978bbeba04a43065a2be4e
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f51964c51919816397c0a0a544a4db9b9baa887bf429ed700a69cc89b62541a
+size 1082532
diff --git a/fridge1_minimal_wall/episode_00000045_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e3a4c41e13762fc860182a049ca259ee643e9b06
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57ef3e2624dd940e98e1e5aaabcf08e16798eee30bd2f0651340da75dc7310c2
+size 926273
diff --git a/fridge1_minimal_wall/episode_00000045_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b2ee19a05c1fec24a0f92d005a029528bde8d54
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9e110fd4961cf53145cbfd8b08638dd2930337bcfcb98237d8825110dc82da1
+size 488000
diff --git a/fridge1_minimal_wall/episode_00000045_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4251d21367fc2d29142d45f561e16365308f628f
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c04afe04bc27b2c48a2c27538df95300cec1eb74d7b71b70fd0af4c08e00d1f
+size 444585
diff --git a/fridge1_minimal_wall/episode_00000045_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5fa8d4ca47dc62ec55fe629922c43b1dbabd0483
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13890786036e5fc47a0186b018f8c67266ac2cb9be0e8db21c39be88bdfacc47
+size 789971
diff --git a/fridge1_minimal_wall/episode_00000045_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..37e6b7d747725f61d0ae0ca1b6648f93f2090013
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96c842523331501af5d16e276a528b1263bab62c520f9a2357ed79bbf01b3450
+size 559844
diff --git a/fridge1_minimal_wall/episode_00000045_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5fc8fc8282441fe3a3a5e49c14a8750621d404eb
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10ef03e50553b80f4598ed2b562318cd09cebec81e28244de296ef109f593899
+size 703344
diff --git a/fridge1_minimal_wall/episode_00000045_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e87932b2b98220cf0eaee6dca015b6f7dc783800
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ab2c1a0321ab4d8f1e07501ea32ed6031a28baf2148591363f1e071d47e867d
+size 693578
diff --git a/fridge1_minimal_wall/episode_00000045_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3404dd7a4fc9fd55ca4560adef955ec1ba7bde5d
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dc538229a708e288b6e9fe799a0d2a5a1bbbb3ba4be1fec9d05e2aa47d62d1d
+size 606231
diff --git a/fridge1_minimal_wall/episode_00000045_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20456731a4435bfedddffc58b30b92a4afcc948e
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cad7f8e71181f3505e8d863f3cf10884128f9f63a351dbef3ea58b2a0ef24dac
+size 675415
diff --git a/fridge1_minimal_wall/episode_00000045_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc69206faacdd19eff5ed32eb98c38bc72e67c06
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b64fb93982e49302d5b383c313dc9458dc0cebafaa44d593957b8496554eaae
+size 565839
diff --git a/fridge1_minimal_wall/episode_00000045_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4c2ab8bfe6118a4839acf290b1bbc918119a03e3
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23f721ad8b5cda50cf6fc86b2f5ebbf2dafffd55b313eecfa308073f6ec142c5
+size 672212
diff --git a/fridge1_minimal_wall/episode_00000045_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..33797196ce2110e6955ebd3f37242c79c05b5ac8
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e24ba82f4edcb0af14100c4c51c0ff6eab4d7aaa427caf1e18c7ff513308c5e
+size 603187
diff --git a/fridge1_minimal_wall/episode_00000045_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..26982e5759a8436f122b8fce4721ec3d72668223
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40736bd2d2d6c43014f2a755c46ff19337eba5ebceaae647576c5a89e0fc7f91
+size 134387
diff --git a/fridge1_minimal_wall/episode_00000045_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2e3b6f131ada2edd6d2ddd379c90de2d219118d8
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:416a524438d0db1875b2d05b174efc7bf192b311aa1f70ac48d874c90a3f10f8
+size 119589
diff --git a/fridge1_minimal_wall/episode_00000045_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf1d119372be813e57c936a0e867c9f5ee5eaed6
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f4f81e76e892b67848cb44c34f9236d737b42a41e73c1152fbda293db0a7d5d
+size 151161
diff --git a/fridge1_minimal_wall/episode_00000045_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2dda49722e5fb4a52bf2258e562de96b98a7fafb
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbccbb492c3168b9b0ae0d8f03754761195aec04fe2e09239f75408c44b3f41c
+size 104412
diff --git a/fridge1_minimal_wall/episode_00000045_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af123ecdc766231118aae16dde3cb1845a354d1b
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acd32421f48723bea29096e23cfea2e01c130f52081d154b33d68496a1952a61
+size 404752
diff --git a/fridge1_minimal_wall/episode_00000045_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..69db3518569fdf7f2af9420853d8e00f0c725086
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f2a96e5f22538a9d8bdb581f756055822893e1a0adc586a1db6aeb4111d9a00
+size 423187
diff --git a/fridge1_minimal_wall/episode_00000045_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..10e1093f0b595b18448d359803f43fbe3b57f28a
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1e9b5825d558af778143a70a6ea9875a2d2efe49df1495d0b8c8e120c15353f
+size 507219
diff --git a/fridge1_minimal_wall/episode_00000045_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000045_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c1df9e57d4dc20d752e30d0d3d7232f54315b634
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000045_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9117021759811aaf7bad54aa702c06a95ecc1112290fc33c4718dd77cc863acd
+size 377505
diff --git a/fridge1_minimal_wall/episode_00000046_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4f9da4bb99cbe96c4e054108033c44072d6426d6
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98ff883aa6fecbf0ea0df9064bb77a6e0f496162fe8d9e4eeddc220f94d929fd
+size 934473
diff --git a/fridge1_minimal_wall/episode_00000046_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cbb07625a90042051848e015c69ef91f6cbaab36
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d7c4df8a39ab9f0af989927a4d3106a40fa33276deabbc6451f1a0507baa15b
+size 1166244
diff --git a/fridge1_minimal_wall/episode_00000046_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5cede2d0b53dcf649b5d466a4611215e0ea763f0
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b0c07802d70b3bfba9c6ace12e99563b1a4b432a85ee805c497d2a2b5d24034
+size 1274755
diff --git a/fridge1_minimal_wall/episode_00000046_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d00681262448163643f379108ff4dc25c7b6d73
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ee81d4c3e7e152733a7e6b786a7cfb02ade3d0bec40ff98661c88ef2a9116b6
+size 1009188
diff --git a/fridge1_minimal_wall/episode_00000046_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d45cf6ef84c9f0109d40d942d72b8581d46dc6b5
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:750ecb01c3b80af4649885be93a313db05edf8fa2255b3125b2123e9815a054a
+size 716628
diff --git a/fridge1_minimal_wall/episode_00000046_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bb52b2a5c2243d60cd017ce3123ff0f2bcb7c2c5
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37dd8cb0d77e620a6abc5c07042e16b6217a76d51f7cbc6fae33b86a0e8fb92e
+size 878065
diff --git a/fridge1_minimal_wall/episode_00000046_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d875ea055ff3413405b1b2aa2f5f975464cf9dbe
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbfa2a96a263760f92f128a33a5731bb382bb0977f6cce934ec0c6afc2c9bf78
+size 964215
diff --git a/fridge1_minimal_wall/episode_00000046_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc1db4d44835492351f37e4f4bab1f2b34395454
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a0b0c53d2408d50ade84c06efcda96fe3e519f0e1d72956406db1f76319455e
+size 796382
diff --git a/fridge1_minimal_wall/episode_00000046_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e24ce5a0678ff15a4ce536cf0fffd005429786b
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df8c1680041619015f3521d2cac69b1aad485ec45e2e344cd66d71436eef0f87
+size 604450
diff --git a/fridge1_minimal_wall/episode_00000046_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e68acb197f826b663dd0720866cacb21261200dd
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b7c2a7cf887c09212483be190cf9e6fa1bc3e9da6a1e01c079cb9d750cbb162
+size 606725
diff --git a/fridge1_minimal_wall/episode_00000046_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4416550bdc4d680912cd9cf341e951494a35c50
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83c93dea8aa5bc87de0b18ad52bc22dc378c1efc4bd56931f19f8030f682ab80
+size 742333
diff --git a/fridge1_minimal_wall/episode_00000046_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a641eca045d4390d8e3db9abe11a6e25aa3da45c
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4572de12cf2fe41f649832ac58f077599f2dae53460c544efcd98c73f1ec518f
+size 604437
diff --git a/fridge1_minimal_wall/episode_00000046_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8678fe96035ca902947a0ede3eb0e9fc505a3478
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a53d4edefe4c888eea11eac2ec5461426b1122b1980f7f37cb5187a807f26855
+size 706250
diff --git a/fridge1_minimal_wall/episode_00000046_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90356d5350b2cc8fa8f296c14c104627ac9761fe
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65d34120ca06edef9d097e014708632a37c7ca519c3dfa8a84816fc13a89d84a
+size 679255
diff --git a/fridge1_minimal_wall/episode_00000046_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cff5fd6e6c522b1f233482e46bb7fd1bb2448ef1
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c15816f4a812255e1b58c48870edd54fe6a3e181fb6a4ea443dec7eeb89efafb
+size 532241
diff --git a/fridge1_minimal_wall/episode_00000046_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f397d1a865b1bfca7b7a000d96c2491b09492e77
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49aaf07361eb3eb209d6b1e1f94e9b029165304fcc9748f3c1124bfe6f490f9d
+size 651150
diff --git a/fridge1_minimal_wall/episode_00000046_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61d96fb4da3af37587a3363df0e7ba537158ac42
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e31c417b38b94dfdf34937ab95df6eebb1bba1aae87e55771dedf7a97d0d43e
+size 147183
diff --git a/fridge1_minimal_wall/episode_00000046_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6adaeb70b50ff5e240740964289344bbc28a3d27
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66df5cfca145b587edce86acdf1ff49b86309d3d5945f471b0b37bcea4422666
+size 163727
diff --git a/fridge1_minimal_wall/episode_00000046_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7770f042ad85e2c6e5f351d4c7a7361c18c27e43
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01b5c6dbb3fb84583f425fbdbfb1444837661924ef30562a88df6c7141d2daa3
+size 104808
diff --git a/fridge1_minimal_wall/episode_00000046_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8cb98501ae0086df714edc5db5ba4fb5f1326364
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cb2e249b75171132c14754779b6791695b13902e1c803254004347a0dffd58b
+size 154415
diff --git a/fridge1_minimal_wall/episode_00000046_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ead7a003c5b4fa3a1da9666c0763fe244bafb63
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eba10b7b1b79816e3d5e203b03555d439d3b9a859dde544d1217da2d6688ed63
+size 399202
diff --git a/fridge1_minimal_wall/episode_00000046_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b8e05bfe927f92bcea2f6ee6f632083781928cac
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:991ff1b1ffa4f70f3b18f0299ee55f76769c9da086a6783ea8eebdf3c699bf52
+size 357895
diff --git a/fridge1_minimal_wall/episode_00000046_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..76b5d0a346a71295ee2eafe577d9d4a1e7f2e521
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c36749776c970b020041c8a7e09cbf3d410489fa66731489cfb6548d544a32a
+size 385637
diff --git a/fridge1_minimal_wall/episode_00000046_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000046_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d75bedae5330c84bff89b0f63a8f2ab4ddde3186
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000046_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01fa2dbe568c4d4fde29e7bc252d82228ac4041c464bcb82bfcd234b59b064a2
+size 453873
diff --git a/fridge1_minimal_wall/episode_00000047_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d843de8400ac1b1dd2ca4360906e62348b16147
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e66263f949ebb1a327266d35a4a5dfd211b306857a0972930d57c4d273bf7160
+size 804968
diff --git a/fridge1_minimal_wall/episode_00000047_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02baf96b5fe66b72d7af49bc5f5671e3495f93ea
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cf752d70b593be0be03545e45e086fe2920d8c0ea15deb61b18cb4e0600b1b3
+size 1042446
diff --git a/fridge1_minimal_wall/episode_00000047_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..743ff08d544f4d0b4a5a5a6ba81ca377dbc11466
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83d23dcc9aee5cb90e11f1d1df2ffa918adc7146cac9e94915314a9eedd8f05a
+size 956512
diff --git a/fridge1_minimal_wall/episode_00000047_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f44c59469c5ce86295f22f81a09c18da61cd02c2
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:715d390c05341d6feb1fa4455388a7b9dea2f4c998afc0ec041b7bcdaebee653
+size 1116263
diff --git a/fridge1_minimal_wall/episode_00000047_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e6636d3b88fd767734a5dd2dc9712ffb0258de2
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea8e5c73df6964a41849ac1b25a0ab50063ea63ee78b5bfe3ccaaedd0486b677
+size 661200
diff --git a/fridge1_minimal_wall/episode_00000047_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d95ac0ddab8635149085730a6dfd56cdcdfef03b
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a85598ac3e36cd034387fc8bdf3006d2a3c46be511bd706b8647b76f10cfbeae
+size 741805
diff --git a/fridge1_minimal_wall/episode_00000047_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66df1fff1973848293190946c2383e960973c6a1
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d7012482555f1d562f99ca13ea28d7e1b43926a70a1329dfa218715cdf385e5
+size 781589
diff --git a/fridge1_minimal_wall/episode_00000047_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d68a2f0f9d9a3e881d5623efffc4ec430b575607
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d28ff1b8af215729db01ff70d5b80946181e19b47c2a488f05f4568cc9fe6360
+size 807461
diff --git a/fridge1_minimal_wall/episode_00000047_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f43a4dc1a03fcd1e7db73f321bf91a452dbe272
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae33451f904621e83d5f7981b5d0b346a5ca98cc7033d56dfa507c30e2eb5d90
+size 766109
diff --git a/fridge1_minimal_wall/episode_00000047_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5e0a75ff9391e3bac40ac5c699c1b8b296bbdde5
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54b9dc37d5606d5e62bc36d2b02c0e6784bb1a1533318c3889b3c036f76408e8
+size 614107
diff --git a/fridge1_minimal_wall/episode_00000047_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f4ba4e70df684e9e86cac563c0e2f1630204b1fe
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57dc4d4dbac171c187f3ebc2db7d1719aca80822eb20a91fdfe163f610a80f4c
+size 610192
diff --git a/fridge1_minimal_wall/episode_00000047_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f354d46555e93cde57dd5e6d1800b9d539432968
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c94362527ccae33d9142b3f8ffbec875923dd92d432be8f52ec4bf78077c2aab
+size 586199
diff --git a/fridge1_minimal_wall/episode_00000047_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd67a5400400b78ae72a5333ca65e383cc3c9df3
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6b8f244b6593ae6c7a61d531c017eca9be7e0f1601822d22f71b8b98cbec783
+size 806486
diff --git a/fridge1_minimal_wall/episode_00000047_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..443a64e4247e6786a9218d149399960a80cb97af
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b93ccaa62bb024bbabc53e531ea8afe6a4c95a224e425847a4577b4f17f0b1e8
+size 615220
diff --git a/fridge1_minimal_wall/episode_00000047_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..64ef48ae41d7d5a8b28b068f46296093155cf899
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58f56ee513bc2a1dedaf31c248fafc939e149295d804369fa86f3b12403f5ea4
+size 635267
diff --git a/fridge1_minimal_wall/episode_00000047_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8653f40c2e3e34fcda3f519b2a13b53a8be505cb
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13d007d7c6ca480c510727a6f8095412edb7f6df03b679f40c3faa411e42ac86
+size 656796
diff --git a/fridge1_minimal_wall/episode_00000047_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca9cd1a2c0dbdb80cc381c6d834e6b329217c708
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad4c49eb156d92dfa5930ac1a2e741a0a9906b744173565fb0822d790ea0d630
+size 139120
diff --git a/fridge1_minimal_wall/episode_00000047_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b950707a70bcfc875f1607a07df130c05887a975
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4967593d6b17359c628c7f9dc7a474f6d5c6e07745bedfe31a16886c277b4dd5
+size 106281
diff --git a/fridge1_minimal_wall/episode_00000047_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a3776fd04cf45f992dae903977b564f4da5efd6c
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b0c5196799c7929d96d1df9f7ad8c5972ab5889220cdcd1c8a18e980828f1f3
+size 142931
diff --git a/fridge1_minimal_wall/episode_00000047_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f3673b07881d5c08ede588376e4d4861af233b8a
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a670b9cc30e6780ff179c6545e372d6fbe7a70227c136e2411f558646a52738a
+size 132330
diff --git a/fridge1_minimal_wall/episode_00000047_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2fb5def8cbf7955ac51b05367e4a86170e9e2c6
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a733ff8305fea6515a77884e7167fb8d9f4c13ed6c838130be1da2850d70efd
+size 475623
diff --git a/fridge1_minimal_wall/episode_00000047_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a2dc07c60d02b052eeb8f635dee4b3607b845c7
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c38ebd05a90686d3eb5753a487951ca2497781dd4ca78b831b4085ff7872b3d2
+size 380344
diff --git a/fridge1_minimal_wall/episode_00000047_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..88fe8670e4280ae62487e5d6003410d43e95e6e0
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:035b5e37f2d57c05ff51fed2923f308f68a52e0dcaa9d521bf3c97fc7ddd76ef
+size 385796
diff --git a/fridge1_minimal_wall/episode_00000047_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000047_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c9753df282e1153e73defa07414ff7a82ea47a0a
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000047_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:366b7072218ee20a155887bbe71a71006cc85d47d6c18552addc6fda1f3c79c6
+size 392981
diff --git a/fridge1_minimal_wall/episode_00000048_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cb8dd1fc4f49a4d6f6340f8f743ab13ecda37cef
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06dd870bf00db052fd8900c97c2b7886a635e58609ce20633b901725767a7cda
+size 955478
diff --git a/fridge1_minimal_wall/episode_00000048_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f6a4b727bb1054de2ec55a11b72eb7e5dc1e668
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3859b76676b9bd1ef4462ec06f81c0525b2f60da0db5f55adbf652757d238a9
+size 1092443
diff --git a/fridge1_minimal_wall/episode_00000048_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7aa2e8b6d751fe9b43ca2c270794625ffa5ecb2c
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:824b92d240d7e11eb38cd24aed5acdc8b60f228db1af55e6b2029133f47c2ecf
+size 998704
diff --git a/fridge1_minimal_wall/episode_00000048_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb766bc84b3cf9f118e18ebbd77369a8e1519856
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee24be21e46d269f119ce1c053500305f0589a94935fe62255b44ced62120ba4
+size 818439
diff --git a/fridge1_minimal_wall/episode_00000048_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6861daa93c4cf3577adde4767b0a6c011aff4fad
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5ba59116e5e1f90c8d80fe511b90391a163b6e02cd174df8ab9e7767cd9ca40
+size 705814
diff --git a/fridge1_minimal_wall/episode_00000048_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22df6fa0b519789a70021bbc948e9bbc4be11934
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d04162000ad3cb4a701b8b1653e5b651b6444ce5f09425e7e8cf71d9eb3947ed
+size 826262
diff --git a/fridge1_minimal_wall/episode_00000048_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fe25f6a441faca8dceb737c6d99c2189499af4c8
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19e71387c9d7e486f4d35b0b2ad1d92b9d5a6a2bcd1afedb24c3008000cd9749
+size 784205
diff --git a/fridge1_minimal_wall/episode_00000048_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f255da35fe5248239b97b30595a299ea64066970
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c20369fabeec312c6b9fc0842779436468a4506a7f735b9b039cf484178aa5c5
+size 704819
diff --git a/fridge1_minimal_wall/episode_00000048_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1578272248473be3bbf761ba91f30217bd39d8c4
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c17574f20f8444f298fe4a13d607e591b3004217547570072c8c9fb8657c992f
+size 590451
diff --git a/fridge1_minimal_wall/episode_00000048_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..74052c595932fe1e1445c0c6a6c96f9a339db942
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7edebcc4c19058a5594a6753a09363944c1e46330947ab72c33fd9b5fa7834fc
+size 588416
diff --git a/fridge1_minimal_wall/episode_00000048_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aec1e685deca9212eda147d483d2ffdc496b4380
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c08bb6773914fca3d3729b998104b1a391997b894b74b76640a34a364173ce70
+size 582533
diff --git a/fridge1_minimal_wall/episode_00000048_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d184b7decc40dcffba292edf70afa4060acfce19
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9230828735dbde08914e70c0cd958c139d4d4f74d389ac0ff49ff562769f5f81
+size 735970
diff --git a/fridge1_minimal_wall/episode_00000048_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..21ec60c3a9376c3a060f7e21569d0abc03d7fc7c
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:879c69af4c83608e4d24075fbd6319ef51df0ca40d33e035f0a84900952feb87
+size 733986
diff --git a/fridge1_minimal_wall/episode_00000048_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92f8a1dab267b9f1d221eabcfb7f668800b82755
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c635bcdf866ef6adc8d2140b17962cabc59921ebbc627b83ce900f1b967a65ab
+size 546659
diff --git a/fridge1_minimal_wall/episode_00000048_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..193ff1b7c075310504f8d900c7cbc496840aca8b
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:756854f846ca76b945c2b00cf0d2cd2ca8c38f9a3de6bec122bfef82749b6911
+size 609193
diff --git a/fridge1_minimal_wall/episode_00000048_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e195d1cf8806b3be7b0dfa7bb6c24ee2704df01
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:715fea5fef6971cd8e8058ad5764fd4b167defaf5dcaaed53dfc1ea1f01fc7b1
+size 556655
diff --git a/fridge1_minimal_wall/episode_00000048_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d33045045be72a347f5833c2a026ff7e46daeec
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0afc293a50c3ee9c41189232ad9b012f738b18650d57462f3fab32255849d420
+size 134802
diff --git a/fridge1_minimal_wall/episode_00000048_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fea284eeb9149c38535bbf0a7283f198dc829eba
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbd7e361c8b90479307a05bd3602c59a34427d4449c868c3296811fba78ac807
+size 112559
diff --git a/fridge1_minimal_wall/episode_00000048_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d36363f54a2b5b6cb58a541d2cf79512d1215555
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1538ea38912b26df7b287f9462cdc9ce1be7f6288317c16b15ec083f85c34a1c
+size 126929
diff --git a/fridge1_minimal_wall/episode_00000048_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d28cddf8e3b227cad43e366381024d6c20ca7d78
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a81b37eef4dfaf0b2d2f745bf0edf15ad30fdd2ff4d8bd0ea5867146a71dc1e0
+size 114903
diff --git a/fridge1_minimal_wall/episode_00000048_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c7344fee68bb4f79e77ce95330727980ee0893ac
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78022c13236c3ee80e7c512d57c974a978ede52b76ca682cdb74f1a3b529e051
+size 419982
diff --git a/fridge1_minimal_wall/episode_00000048_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1c27a133fa2ae21fa8af9a40d63f5b4de48820f
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:073c09bce42558c16a3169b9de4e080548f9c516027eb945ca7e3b053a202514
+size 313763
diff --git a/fridge1_minimal_wall/episode_00000048_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..488672a9798c407e366b3db5ab8ddd36e87d1ca3
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94b3aa4dad2abf36f0fbfe67d7eb59f5d131897eeaaaf2b1d31d8ac8e3429ee5
+size 361841
diff --git a/fridge1_minimal_wall/episode_00000048_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000048_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d2a0fa9d85e77d4bd1f48c2ce280f7015107ded6
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000048_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0c280e86e776c29dd266e03df550ee38bf1d311c190b3278c0d78864e059419
+size 413271
diff --git a/fridge1_minimal_wall/episode_00000049_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000049_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a348dc981ee2d7918538d89f84b2f263239fe97e
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000049_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3600f2636523d826b6361788f48262cccbfcc1fe448085157a6bae0c092a1b0d
+size 865140
diff --git a/fridge1_minimal_wall/episode_00000049_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000049_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..08751fe38a2dda17111509764ded3472f021a735
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000049_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc75e148b3ff0fa5e208863b1d3a3688a685f7cf5e4d34e7be95f3f118a305b6
+size 1025971
diff --git a/fridge1_minimal_wall/episode_00000049_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000049_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..33f9cb2ea90a941c4bf54e54b485039c043029c0
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000049_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d099d741f65ff4e7df7a6fab229a5c4085f71dc9fee80c262dcb04091f63f27
+size 658356
diff --git a/fridge1_minimal_wall/episode_00000049_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000049_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd7b03401b8c2880391f6869eb033532349652f2
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000049_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc9c87cef71aedd73af93efdc4d2ad94649623ce5a3ef1ac4304deb0d8dd05f3
+size 662136
diff --git a/fridge1_minimal_wall/episode_00000049_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000049_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7200f23cbdb370d058768d5195c53c62bdebe0ea
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000049_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4f5241e137593c268129f1c0630ab0beadceea7875fc83fcee59d126b2b5f81
+size 710733
diff --git a/fridge1_minimal_wall/episode_00000049_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000049_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e039cf1f965ae1042baa8c3210df85e6030a931f
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000049_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:080c5ccd200041a042a75871712e5d0a4f2de745eb1268f90ff6bd6bf7980b4e
+size 513919
diff --git a/fridge1_minimal_wall/episode_00000049_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000049_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e8bc653467b311a53298c535eca387f5596c8e77
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000049_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a93a36bc32451cd9bee72e22d4500b4586c8e5ea7c5d13d3b6d40e0b40aac102
+size 577591
diff --git a/fridge1_minimal_wall/episode_00000049_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000049_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9442542349d670e3f63ccb4bdfef352bc2de11e7
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000049_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2aa935b98a6610dc8e9a26ddc2da41b31be9e74da253afd57c81d6a99686f97
+size 653191
diff --git a/fridge1_minimal_wall/episode_00000049_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000049_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..afb85e23cd7f81b16543545a0c7a7baa9f62277c
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000049_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf74544e3df4c9c2777927d8becb79cf11bf8c93233d6318501091232de25f83
+size 694019
diff --git a/fridge1_minimal_wall/episode_00000049_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000049_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..661baff219050ac7766c5a6ba810056550d819cc
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000049_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6f90bbed911bc2d6f1256aea3c6362ab0fe77c36998f9b11b5e70473646aca5
+size 641162
diff --git a/fridge1_minimal_wall/episode_00000049_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000049_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a4d27d382515d1f1fe5a4d100aadb64fc03c5973
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000049_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1466ba5866bad2b6cb940461749e708bf9bc0e83c08a2efd80ed5b63cb1ac49e
+size 682173
diff --git a/fridge1_minimal_wall/episode_00000049_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000049_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f122041f24bb78228818f02e94ceee7f3609f6b9
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000049_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:225e3f451c8823470ed78a826f466d34aaadf83205c96b260ea9a0af010316c0
+size 685554
diff --git a/fridge1_minimal_wall/episode_00000049_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000049_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb2712b3b6adcd62712189cb03f61996198666d0
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000049_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bab29a569779b3ce64cc20433955cb4daf691b18f883011b1b50cee6fdfcf56
+size 124061
diff --git a/fridge1_minimal_wall/episode_00000049_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000049_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd5e606413cfaa4dd33482dc26956fbe42673a3b
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000049_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cf213d2694bd2b869bf7dc24f5ce393e3e1f1e7866123312a68ea735fa086b2
+size 109900
diff --git a/fridge1_minimal_wall/episode_00000049_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000049_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5296401b349127582da536186d1d5dd2c58be4d0
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000049_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1ef2fc663880b4e8cb91242c7b1b081bd6a22a1139a8726d3ea9cdb328f5a77
+size 134003
diff --git a/fridge1_minimal_wall/episode_00000049_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000049_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d81912c77a90b8706c1f572c5e2b219e1c757c9
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000049_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:797056c15302b66cf5b6bfa77d3e0ba1218aacea3a59c1bd51457fb43254efa2
+size 379379
diff --git a/fridge1_minimal_wall/episode_00000049_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000049_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..919d8058e989b227f102c2f241f4550c22c567c9
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000049_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69ecb030b8ca5f8e60d58873d8b8efe5ca834b4d1eb90afc4c75953b6762e233
+size 398217
diff --git a/fridge1_minimal_wall/episode_00000049_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000049_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..04081ca576a838ec423ce19873588f70d5597f06
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000049_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a4e8e16c83a2dbdbec6eb15c42fa5740fcf877697be6833031cc17d491b154a
+size 476581
diff --git a/fridge1_minimal_wall/episode_00000050_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000050_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..63f2ab3689b7cdb59806b94e6495281eb3c4c3f9
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000050_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37a81af04ab3f1fe36da48dec067640089b70d4621cc4cb2fba6b1219a210845
+size 1034832
diff --git a/fridge1_minimal_wall/episode_00000050_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000050_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a77c0a0ff7214a74476d0a0bca477b0cbdc2d9c
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000050_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1366c188fa5b6489c7507ff8a89fba17a7a13f218be41dd4779edb1f3b6f1cd1
+size 737072
diff --git a/fridge1_minimal_wall/episode_00000050_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000050_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d20050f5c5b7277ea74a7a42043edb4f94c6d88
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000050_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4cd60629a1373132609d1568966435100a775db112aecf8a430b0306a4ce4e6
+size 661525
diff --git a/fridge1_minimal_wall/episode_00000050_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000050_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..78738bc1dc063419a2d105b14f4313ed7f6f31b5
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000050_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afbb0aad14295af3b212e76418df4441240333ba8ebee4ff6e3a37a45382d662
+size 727818
diff --git a/fridge1_minimal_wall/episode_00000050_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000050_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1584a9384d79074a4e587e88e75e810d86d89017
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000050_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:605ab2bf0ac5d49eed921a8bb5d4c806dc8371365cdbe544fc93e6a84dc7f652
+size 153107
diff --git a/fridge1_minimal_wall/episode_00000050_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge1_minimal_wall/episode_00000050_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..01087b7fb4659bce6e97347043b45f42c7562156
--- /dev/null
+++ b/fridge1_minimal_wall/episode_00000050_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9825c04e4d842e1b44a9765547ecce62dab510940f3e465ad8e3608730773713
+size 428459
diff --git a/fridge1_minimal_wall/running_log.log b/fridge1_minimal_wall/running_log.log
index 65a526af393b437566acb984be90fc4e2d9b2429..af48897145fc8adb253e5d136e4804166df134bc 100644
--- a/fridge1_minimal_wall/running_log.log
+++ b/fridge1_minimal_wall/running_log.log
@@ -14339,3 +14339,3641 @@
 05/09 01:08:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
 05/09 01:08:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.461s, found feasible grasp: True	[grasp_sample.py: 500]
 05/09 01:08:11 INFO: [Worker 0] Feasible grasp found 26 (originally 26): w/ 0.217[m] 2.973[deg]	[grasp_sample.py: 539]
+05/09 01:08:12 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/09 01:08:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:08:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:08:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:08:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:08:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:08:14 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:08:14 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 01:08:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:08:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026487m	[env.py: 870]
+05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:08:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.10495382  0.86663779  0.02648731] yaw=-141.5deg	[env.py: 1019]
+05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9089047   0.49425501  0.02648731] yaw=-175.1deg	[env.py: 1019]
+05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.09099669  0.32749728  0.02648731] yaw=181.1deg	[env.py: 1019]
+05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:08:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=283.6ms, total=283.6ms	[env.py: 1075]
+05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.105, 0.867, 0.026)	[env.py: 1079]
+05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.5 deg	[env.py: 1082]
+05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
+05/09 01:08:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:08:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:08:14 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 01:08:14 INFO: [Worker 0] Worker 0 house 1 episode 23/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:08:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:08:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:08:14 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:08:14 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:08:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.907s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:08:15 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.499[m] 91.260[deg]	[grasp_sample.py: 539]
+05/09 01:08:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:08:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:08:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:08:31 INFO: [Worker 0] Saved videos eagerly for episode 38 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:08:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 01:08:31 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/09 01:08:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:08:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:08:42 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.73s (batch: 3.98s, save: 7.75s)	[pipeline.py: 300]
+05/09 01:08:43 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.38s:
+  episode_total: mean=173.07s, total=173.07s, count=1, min=173073.9ms, max=173073.9ms
+  sensor_polling: mean=442.7ms, total=126.62s, count=286, min=377.9ms, max=833.9ms
+  save_trajectories: mean=7.75s, total=7.75s, count=1, min=7745.5ms, max=7745.5ms
+  physics_step: mean=22.2ms, total=6.36s, count=286, min=15.9ms, max=64.6ms
+  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3980.7ms, max=3980.7ms
+  task_sampling: mean=378.0ms, total=378.0ms, count=1, min=378.0ms, max=378.0ms
+  task_specific_sample: mean=374.7ms, total=374.7ms, count=1, min=374.7ms, max=374.7ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=379.4us, 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 01:08:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:08:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:08:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:08:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:08:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:08:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:08:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:08:45 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:08:45 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 01:08:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:08:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043742m	[env.py: 870]
+05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:08:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04448451  0.04264122 -0.04374192] yaw=163.3deg	[env.py: 1019]
+05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.21152648  0.80460724 -0.04374192] yaw=-148.7deg	[env.py: 1019]
+05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:08:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.6ms, total=219.6ms	[env.py: 1075]
+05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.044, 0.043, -0.044)	[env.py: 1079]
+05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.3 deg	[env.py: 1082]
+05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
+05/09 01:08:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:08:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:08:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:08:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:08:45 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 01:08:45 INFO: [Worker 0] Worker 0 house 1 episode 24/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:08:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:08:45 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 01:08:45 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:08:45 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:08:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.468s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:08:46 INFO: [Worker 0] Feasible grasp found 363 (originally 169): w/ 0.487[m] 86.421[deg]	[grasp_sample.py: 539]
+05/09 01:08:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:08:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:08:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:08:57 INFO: [Worker 0] Worker 0 house 1 episode 22 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:09:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:09:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:09:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:09:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:09:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:09:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:09:16 INFO: [Worker 0] Saved videos eagerly for episode 38 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:09:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 01:09:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:09:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:09:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:09:28 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.48s (batch: 3.85s, save: 7.63s)	[pipeline.py: 300]
+05/09 01:09:28 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.41s:
+  episode_total: mean=179.42s, total=179.42s, count=1, min=179415.4ms, max=179415.4ms
+  sensor_polling: mean=457.8ms, total=137.35s, count=300, min=377.2ms, max=932.5ms
+  save_trajectories: mean=7.63s, total=7.63s, count=1, min=7628.7ms, max=7628.7ms
+  physics_step: mean=22.4ms, total=6.73s, count=300, min=14.1ms, max=62.3ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3854.1ms, max=3854.1ms
+  task_sampling: mean=406.8ms, total=406.8ms, count=1, min=406.8ms, max=406.8ms
+  task_specific_sample: mean=403.8ms, total=403.8ms, count=1, min=403.8ms, max=403.8ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=367.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.6us, 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 01:09:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:09:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:09:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:09:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:09:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:09:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:09:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:09:30 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:09:30 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:09:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:09:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033715m	[env.py: 870]
+05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:09:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90156367  0.0343123  -0.03371458] yaw=157.4deg	[env.py: 1019]
+05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.04585439  0.83457935 -0.03371458] yaw=-145.5deg	[env.py: 1019]
+05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.15285391  1.10226143 -0.03371458] yaw=-128.3deg	[env.py: 1019]
+05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:09:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.5ms, total=202.5ms	[env.py: 1075]
+05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.902, 0.034, -0.034)	[env.py: 1079]
+05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.4 deg	[env.py: 1082]
+05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
+05/09 01:09:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:09:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:09:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:09:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:09:30 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 01:09:30 INFO: [Worker 0] Worker 0 house 1 episode 23/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:09:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:09:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:09:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:09:30 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:09:30 INFO: [Worker 0] Collision-checked 388 grasps in 0.077s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:09:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.418s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:09:32 INFO: [Worker 0] Feasible grasp found 347 (originally 153): w/ 0.601[m] 81.175[deg]	[grasp_sample.py: 539]
+05/09 01:09:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:09:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:09:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:09:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:09:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:10:30 INFO: [Worker 0] Worker 0 house 1 episode 23 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:10:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:10:35 INFO: [Worker 0] Worker 0 house 1 episode 23 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:10:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:10:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:10:50 INFO: [Worker 0] Saved videos eagerly for episode 37 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:10:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 01:10:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:11:00 INFO: [Worker 0] Saved videos eagerly for episode 39 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:11:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 01:11:00 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
+05/09 01:11:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:11:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:11:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.41s (batch: 4.65s, save: 9.76s)	[pipeline.py: 300]
+05/09 01:11:04 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.41s:
+  episode_total: mean=178.26s, total=178.26s, count=1, min=178258.7ms, max=178258.7ms
+  sensor_polling: mean=440.9ms, total=132.27s, count=300, min=387.6ms, max=813.3ms
+  save_trajectories: mean=9.76s, total=9.76s, count=1, min=9760.2ms, max=9760.2ms
+  physics_step: mean=21.6ms, total=6.47s, count=300, min=16.5ms, max=49.0ms
+  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4648.8ms, max=4648.8ms
+  task_sampling: mean=415.0ms, total=415.0ms, count=1, min=415.0ms, max=415.0ms
+  task_specific_sample: mean=410.8ms, total=410.8ms, count=1, min=410.8ms, max=410.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=506.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.6us, 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 01:11:05 INFO: [Worker 0] Worker 0 house 1 episode 24 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:11:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:11:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:11:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:11:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:11:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:11:06 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:11:06 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 01:11:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:11:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015023m	[env.py: 870]
+05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:11:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.2027019   1.12709392  0.0150226 ] yaw=-133.1deg	[env.py: 1019]
+05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.16893584  1.03654596  0.0150226 ] yaw=-147.4deg	[env.py: 1019]
+05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11189948  0.79749575  0.0150226 ] yaw=-151.9deg	[env.py: 1019]
+05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:11:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.1ms, total=121.1ms	[env.py: 1075]
+05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.203, 1.127, 0.015)	[env.py: 1079]
+05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg	[env.py: 1082]
+05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
+05/09 01:11:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:11:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:11:06 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 01:11:06 INFO: [Worker 0] Worker 0 house 1 episode 24/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:11:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:11:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:11:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:11:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.066s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:11:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.581s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:11:07 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.577[m] 91.500[deg]	[grasp_sample.py: 539]
+05/09 01:11:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:11:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:11:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:11:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:11:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:11:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.39s (batch: 3.88s, save: 8.51s)	[pipeline.py: 300]
+05/09 01:11:13 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.91s:
+  episode_total: mean=173.44s, total=346.88s, count=2, min=167362.3ms, max=179518.5ms
+  sensor_polling: mean=438.8ms, total=260.66s, count=594, min=381.9ms, max=957.8ms
+  physics_step: mean=21.3ms, total=12.67s, count=594, min=15.1ms, max=57.9ms
+  save_trajectories: mean=8.51s, total=8.51s, count=1, min=8511.8ms, max=8511.8ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3882.2ms, max=3882.2ms
+  task_sampling: mean=452.7ms, total=905.5ms, count=2, min=391.9ms, max=513.6ms
+  task_specific_sample: mean=449.0ms, total=898.0ms, count=2, min=388.1ms, max=509.9ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.8ms, max=2.5ms
+  mj_forward_sync: mean=529.9us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=16.0us, 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 01:11:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:11:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:11:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:11:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:11:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:11:15 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:11:15 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:11:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:11:15 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 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003051m	[env.py: 870]
+05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:11:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93044453  0.07176974 -0.00305061] yaw=149.5deg	[env.py: 1019]
+05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08637088  0.14392146 -0.00305061] yaw=164.7deg	[env.py: 1019]
+05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.14808453  0.90885645 -0.00305061] yaw=-142.4deg	[env.py: 1019]
+05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:11:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.9ms, total=90.9ms	[env.py: 1075]
+05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.072, -0.003)	[env.py: 1079]
+05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.5 deg	[env.py: 1082]
+05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m	[env.py: 1086]
+05/09 01:11:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:11:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:11:15 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 01:11:15 INFO: [Worker 0] Worker 0 house 1 episode 24/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:11:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:11:15 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 01:11:15 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:11:15 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:11:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.479s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:11:17 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.528[m] 77.143[deg]	[grasp_sample.py: 539]
+05/09 01:11:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:11:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:11:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:11:26 INFO: [Worker 0] Saved videos eagerly for episode 39 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:11:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 01:11:26 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/09 01:11:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:11:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:11:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.42s (batch: 4.91s, save: 9.51s)	[pipeline.py: 300]
+05/09 01:11:41 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.47s:
+  episode_total: mean=176.43s, total=176.43s, count=1, min=176431.8ms, max=176431.8ms
+  sensor_polling: mean=441.3ms, total=129.31s, count=293, min=375.6ms, max=872.6ms
+  save_trajectories: mean=9.51s, total=9.51s, count=1, min=9514.2ms, max=9514.2ms
+  physics_step: mean=24.0ms, total=7.03s, count=293, min=13.7ms, max=72.3ms
+  save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4905.8ms, max=4905.8ms
+  task_sampling: mean=473.3ms, total=473.3ms, count=1, min=473.3ms, max=473.3ms
+  task_specific_sample: mean=469.8ms, total=469.8ms, count=1, min=469.8ms, max=469.8ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=373.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:11:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:11:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:11:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:11:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:11:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:11:43 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:11:43 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 01:11:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:11:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034045m	[env.py: 870]
+05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:11:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.073951    1.00793271  0.03404547] yaw=-150.6deg	[env.py: 1019]
+05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0188429   0.35771039  0.03404547] yaw=172.2deg	[env.py: 1019]
+05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.01786458  0.55034373  0.03404547] yaw=-179.7deg	[env.py: 1019]
+05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:11:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.2ms, total=132.2ms	[env.py: 1075]
+05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.074, 1.008, 0.034)	[env.py: 1079]
+05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.6 deg	[env.py: 1082]
+05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
+05/09 01:11:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:11:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:11:43 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/09 01:11:43 INFO: [Worker 0] Worker 0 house 1 episode 25/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:11:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:11:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:11:43 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:11:43 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:11:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.510s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:11:45 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.583[m] 92.615[deg]	[grasp_sample.py: 539]
+05/09 01:11:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:11:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:11:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:11:59 INFO: [Worker 0] Worker 0 house 1 episode 23 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:12:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:12:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:12:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:12:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:12:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:12:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:12:21 INFO: [Worker 0] Saved videos eagerly for episode 39 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:12:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 01:12:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:12:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:12:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:12:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.67s (batch: 3.89s, save: 7.78s)	[pipeline.py: 300]
+05/09 01:12:33 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.52s:
+  episode_total: mean=183.51s, total=183.51s, count=1, min=183508.6ms, max=183508.6ms
+  sensor_polling: mean=457.8ms, total=137.35s, count=300, min=384.6ms, max=799.1ms
+  save_trajectories: mean=7.78s, total=7.78s, count=1, min=7782.0ms, max=7782.0ms
+  physics_step: mean=22.0ms, total=6.61s, count=300, min=14.0ms, max=50.9ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3889.4ms, max=3889.4ms
+  task_sampling: mean=517.8ms, total=517.8ms, count=1, min=517.8ms, max=517.8ms
+  task_specific_sample: mean=514.1ms, total=514.1ms, count=1, min=514.1ms, max=514.1ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=412.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:12:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:12:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:12:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:12:35 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:12:35 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:12:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:12:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042682m	[env.py: 870]
+05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:12:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.23572291  0.94976251 -0.04268211] yaw=-131.2deg	[env.py: 1019]
+05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09324493  1.12272042 -0.04268211] yaw=-139.7deg	[env.py: 1019]
+05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.09520022  0.3979084  -0.04268211] yaw=188.9deg	[env.py: 1019]
+05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:12:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.3ms, total=95.4ms	[env.py: 1075]
+05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.236, 0.950, -0.043)	[env.py: 1079]
+05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.2 deg	[env.py: 1082]
+05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.774m	[env.py: 1086]
+05/09 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:12:35 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 01:12:35 INFO: [Worker 0] Worker 0 house 1 episode 24/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:12:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:12:35 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 01:12:35 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:12:35 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:12:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.431s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:12:36 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.397[m] 86.533[deg]	[grasp_sample.py: 539]
+05/09 01:12:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:12:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:12:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:12:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:12:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:12:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:13:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:13:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:13:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:13:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:13:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:13:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:13:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:13:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:13:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:13:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:13:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:13:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 01:13:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 01:13:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:13:30 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:13:30 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 322 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:13:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.842s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:13:33 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.047[m] 0.422[deg]	[grasp_sample.py: 539]
+05/09 01:13:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:13:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:13:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:13:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:13:41 INFO: [Worker 0] Worker 0 house 1 episode 24 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:13:43 INFO: [Worker 0] Worker 0 house 1 episode 24 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:14:06 INFO: [Worker 0] Saved videos eagerly for episode 40 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:14:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 01:14:06 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/09 01:14:06 INFO: [Worker 0] Saved videos eagerly for episode 38 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:14:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 01:14:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:14:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:14:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:14:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:14:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:14:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:14:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:14:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:14:16 INFO: [Worker 0] Worker 0 house 1 episode 25 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:14:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:14:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:14:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.09s (batch: 4.17s, save: 7.92s)	[pipeline.py: 300]
+05/09 01:14:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:14:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:14:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.66s (batch: 4.56s, save: 8.11s)	[pipeline.py: 300]
+05/09 01:14:18 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.39s:
+  episode_total: mean=192.55s, total=192.55s, count=1, min=192550.9ms, max=192550.9ms
+  sensor_polling: mean=440.0ms, total=132.01s, count=300, min=380.4ms, max=815.4ms
+  save_trajectories: mean=7.92s, total=7.92s, count=1, min=7918.1ms, max=7918.1ms
+  physics_step: mean=20.2ms, total=6.06s, count=300, min=13.5ms, max=40.9ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4172.2ms, max=4172.2ms
+  task_sampling: mean=392.9ms, total=392.9ms, count=1, min=392.9ms, max=392.9ms
+  task_specific_sample: mean=389.6ms, total=389.6ms, count=1, min=389.6ms, max=389.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=363.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:14:19 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.34s:
+  episode_total: mean=184.26s, total=184.26s, count=1, min=184262.0ms, max=184262.0ms
+  sensor_polling: mean=452.4ms, total=135.27s, count=299, min=400.1ms, max=687.8ms
+  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8105.7ms, max=8105.7ms
+  physics_step: mean=20.9ms, total=6.26s, count=299, min=13.6ms, max=35.6ms
+  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4555.6ms, max=4555.6ms
+  task_sampling: mean=339.8ms, total=339.8ms, count=1, min=339.8ms, max=339.8ms
+  task_specific_sample: mean=335.9ms, total=335.9ms, count=1, min=335.9ms, max=335.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=449.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:14:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:14:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:14:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:14:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:14:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:14:20 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:14:20 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 01:14:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:14:20 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 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023742m	[env.py: 870]
+05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:14:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89043591  0.03295164 -0.02374178] yaw=151.4deg	[env.py: 1019]
+05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83931305  0.33879796 -0.02374178] yaw=185.0deg	[env.py: 1019]
+05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9267375   0.10228701 -0.02374178] yaw=157.0deg	[env.py: 1019]
+05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:14:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.1ms, total=186.1ms	[env.py: 1075]
+05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.890, 0.033, -0.024)	[env.py: 1079]
+05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.4 deg	[env.py: 1082]
+05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m	[env.py: 1086]
+05/09 01:14:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:14:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:14:20 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 01:14:20 INFO: [Worker 0] Worker 0 house 1 episode 25/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:14:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:14:20 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 01:14:20 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:14:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:14:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:14:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:14:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:14:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:14:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:14:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:14:21 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:14:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:14:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037408m	[env.py: 870]
+05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:14:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89668514  0.60690674  0.03740816] yaw=-164.6deg	[env.py: 1019]
+05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0059966   0.39274965  0.03740816] yaw=177.8deg	[env.py: 1019]
+05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:14:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=154.4ms, total=154.4ms	[env.py: 1075]
+05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.897, 0.607, 0.037)	[env.py: 1079]
+05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.6 deg	[env.py: 1082]
+05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/09 01:14:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:14:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:14:21 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 01:14:21 INFO: [Worker 0] Worker 0 house 1 episode 25/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:14:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:14:21 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 01:14:21 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:14:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.065s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:14:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.715s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:14:22 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.536[m] 91.742[deg]	[grasp_sample.py: 539]
+05/09 01:14:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:14:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.399s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:14:22 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.642[m] 90.555[deg]	[grasp_sample.py: 539]
+05/09 01:14:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:14:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:14:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:14:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:14:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:14:40 INFO: [Worker 0] Saved videos eagerly for episode 40 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:14:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 01:14:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:14:49 INFO: [Worker 0] Worker 0 house 1 episode 24 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:14:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:14:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:14:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.77s (batch: 4.30s, save: 8.47s)	[pipeline.py: 300]
+05/09 01:14:53 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.38s:
+  episode_total: mean=190.67s, total=190.67s, count=1, min=190672.8ms, max=190672.8ms
+  sensor_polling: mean=446.0ms, total=133.79s, count=300, min=381.9ms, max=752.1ms
+  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8471.4ms, max=8471.4ms
+  physics_step: mean=21.3ms, total=6.39s, count=300, min=13.6ms, max=65.5ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4299.7ms, max=4299.7ms
+  task_sampling: mean=378.8ms, total=378.8ms, count=1, min=378.8ms, max=378.8ms
+  task_specific_sample: mean=375.3ms, total=375.3ms, count=1, min=375.3ms, max=375.3ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=353.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:14:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:14:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:14:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:14:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:14:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:14:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:14:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:14:55 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:14:55 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 01:14:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:14:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040024m	[env.py: 870]
+05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:14:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94572728  0.13196733 -0.0400243 ] yaw=150.1deg	[env.py: 1019]
+05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03596218  0.30192783 -0.0400243 ] yaw=170.6deg	[env.py: 1019]
+05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.20809555  1.05649537 -0.0400243 ] yaw=-144.2deg	[env.py: 1019]
+05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:14:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.6ms, total=138.6ms	[env.py: 1075]
+05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.132, -0.040)	[env.py: 1079]
+05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.1 deg	[env.py: 1082]
+05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m	[env.py: 1086]
+05/09 01:14:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:14:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:14:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:14:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:14:55 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 01:14:55 INFO: [Worker 0] Worker 0 house 1 episode 26/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:14:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:14:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:14:55 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:14:55 INFO: [Worker 0] Collision-checked 388 grasps in 0.075s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:14:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.454s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:14:57 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.613[m] 94.238[deg]	[grasp_sample.py: 539]
+05/09 01:14:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:14:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:14:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:15:09 INFO: [Worker 0] Saved videos eagerly for episode 40 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:15:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 01:15:09 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/09 01:15:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:15:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:15:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:15:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.14s (batch: 3.78s, save: 7.36s)	[pipeline.py: 300]
+05/09 01:15:21 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.39s:
+  episode_total: mean=166.41s, total=166.41s, count=1, min=166405.5ms, max=166405.5ms
+  sensor_polling: mean=446.7ms, total=124.18s, count=278, min=363.8ms, max=663.1ms
+  save_trajectories: mean=7.36s, total=7.36s, count=1, min=7361.2ms, max=7361.2ms
+  physics_step: mean=22.4ms, total=6.23s, count=278, min=13.5ms, max=50.6ms
+  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3781.8ms, max=3781.8ms
+  task_sampling: mean=386.3ms, total=386.3ms, count=1, min=386.3ms, max=386.3ms
+  task_specific_sample: mean=382.9ms, total=382.9ms, count=1, min=382.9ms, max=382.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=376.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:15:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:15:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:15:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:15:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:15:23 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:15:23 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 01:15:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:15:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024961m	[env.py: 870]
+05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:15:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.1445947   0.97444834 -0.02496142] yaw=-136.3deg	[env.py: 1019]
+05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01838719  1.03169689 -0.02496142] yaw=-153.0deg	[env.py: 1019]
+05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97934426  0.7479002  -0.02496142] yaw=-167.4deg	[env.py: 1019]
+05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:15:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.6ms, total=109.7ms	[env.py: 1075]
+05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.145, 0.974, -0.025)	[env.py: 1079]
+05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.3 deg	[env.py: 1082]
+05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/09 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:15:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 01:15:23 INFO: [Worker 0] Worker 0 house 1 episode 25/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:15:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:15:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:15:23 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:15:23 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:15:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:15:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.427s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:15:25 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.580[m] 93.018[deg]	[grasp_sample.py: 539]
+05/09 01:15:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:15:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:15:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:15:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:15:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:15:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:15:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:16:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:16:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:16:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:16:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:16:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:16:43 INFO: [Worker 0] Worker 0 house 1 episode 25 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:16:46 INFO: [Worker 0] Worker 0 house 1 episode 25 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:17:06 INFO: [Worker 0] Saved videos eagerly for episode 41 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:17:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 01:17:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:17:09 INFO: [Worker 0] Saved videos eagerly for episode 39 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:17:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 01:17:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:17:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:17:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:17:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.22s (batch: 4.50s, save: 7.71s)	[pipeline.py: 300]
+05/09 01:17:19 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.41s:
+  episode_total: mean=178.48s, total=178.48s, count=1, min=178477.7ms, max=178477.7ms
+  sensor_polling: mean=438.3ms, total=131.50s, count=300, min=385.3ms, max=683.9ms
+  save_trajectories: mean=7.71s, total=7.71s, count=1, min=7711.9ms, max=7711.9ms
+  physics_step: mean=21.9ms, total=6.58s, count=300, min=16.6ms, max=48.4ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4504.2ms, max=4504.2ms
+  task_sampling: mean=407.2ms, total=407.2ms, count=1, min=407.2ms, max=407.2ms
+  task_specific_sample: mean=403.7ms, total=403.7ms, count=1, min=403.7ms, max=403.7ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=374.2us, 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 01:17:19 INFO: [Worker 0] Worker 0 house 1 episode 26 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:17:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:17:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:17:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:17:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:17:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:17:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:17:21 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:17:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:17:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008237m	[env.py: 870]
+05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:17:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.13437105  0.10147452  0.00823744] yaw=165.6deg	[env.py: 1019]
+05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95088014  0.38555584  0.00823744] yaw=177.4deg	[env.py: 1019]
+05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:17:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=172.9ms, total=172.9ms	[env.py: 1075]
+05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.134, 0.101, 0.008)	[env.py: 1079]
+05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.6 deg	[env.py: 1082]
+05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.744m	[env.py: 1086]
+05/09 01:17:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:17:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:17:21 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 01:17:21 INFO: [Worker 0] Worker 0 house 1 episode 26/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:17:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:17:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:17:21 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.89s (batch: 4.01s, save: 7.88s)	[pipeline.py: 300]
+05/09 01:17:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:17:21 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 01:17:21 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:17:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.079s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:17:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.389s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:17:22 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.401[m] 86.840[deg]	[grasp_sample.py: 539]
+05/09 01:17:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:17:22 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.47s:
+  episode_total: mean=181.70s, total=181.70s, count=1, min=181696.1ms, max=181696.1ms
+  sensor_polling: mean=449.2ms, total=134.75s, count=300, min=396.4ms, max=698.6ms
+  save_trajectories: mean=7.88s, total=7.88s, count=1, min=7878.4ms, max=7878.4ms
+  physics_step: mean=20.7ms, total=6.22s, count=300, min=13.2ms, max=73.1ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4009.8ms, max=4009.8ms
+  task_sampling: mean=470.0ms, total=470.0ms, count=1, min=470.0ms, max=470.0ms
+  task_specific_sample: mean=466.1ms, total=466.1ms, count=1, min=466.1ms, max=466.1ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=427.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.1us, 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 01:17:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:17:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:17:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:17:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:17:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:17:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:17:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:17:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:17:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:17:23 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:17:23 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 01:17:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:17:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034688m	[env.py: 870]
+05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:17:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03994546  0.24838774  0.03468753] yaw=164.0deg	[env.py: 1019]
+05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.34884161  0.96164148  0.03468753] yaw=-140.0deg	[env.py: 1019]
+05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:17:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=156.8ms, total=156.8ms	[env.py: 1075]
+05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.040, 0.248, 0.035)	[env.py: 1079]
+05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.0 deg	[env.py: 1082]
+05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.785m	[env.py: 1086]
+05/09 01:17:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:17:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:17:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:17:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:17:24 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 01:17:24 INFO: [Worker 0] Worker 0 house 1 episode 26/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:17:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:17:24 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 01:17:24 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:17:24 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:17:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.396s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:17:24 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.431[m] 94.016[deg]	[grasp_sample.py: 539]
+05/09 01:17:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:17:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:17:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:17:43 INFO: [Worker 0] Saved videos eagerly for episode 41 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:17:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 01:17:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:17:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:17:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:17:50 INFO: [Worker 0] Worker 0 house 1 episode 25 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:17:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:17:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:17:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.40s (batch: 4.13s, save: 8.27s)	[pipeline.py: 300]
+05/09 01:17:56 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.39s:
+  episode_total: mean=181.23s, total=181.23s, count=1, min=181232.6ms, max=181232.6ms
+  sensor_polling: mean=444.3ms, total=133.29s, count=300, min=371.6ms, max=653.1ms
+  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8272.7ms, max=8272.7ms
+  physics_step: mean=20.7ms, total=6.21s, count=300, min=15.9ms, max=49.3ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4132.1ms, max=4132.1ms
+  task_sampling: mean=394.9ms, total=394.9ms, count=1, min=394.9ms, max=394.9ms
+  task_specific_sample: mean=391.4ms, total=391.4ms, count=1, min=391.4ms, max=391.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=372.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:17:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:17:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:17:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:17:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:17:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:17:58 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:17:58 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:17:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:17:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031593m	[env.py: 870]
+05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:17:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94467469  0.86856704  0.03159349] yaw=-159.9deg	[env.py: 1019]
+05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06879114  0.86166977  0.03159349] yaw=-149.8deg	[env.py: 1019]
+05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80684027  0.40573742  0.03159349] yaw=181.3deg	[env.py: 1019]
+05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:17:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.7ms, total=99.8ms	[env.py: 1075]
+05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.945, 0.869, 0.032)	[env.py: 1079]
+05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg	[env.py: 1082]
+05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m	[env.py: 1086]
+05/09 01:17:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:17:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:17:58 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 01:17:58 INFO: [Worker 0] Worker 0 house 1 episode 27/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:17:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:17:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:17:58 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:17:58 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:18:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.489s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:18:00 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.596[m] 88.914[deg]	[grasp_sample.py: 539]
+05/09 01:18:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:18:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:18:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:18:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:18:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:18:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:18:11 INFO: [Worker 0] Saved videos eagerly for episode 41 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:18:11 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 01:18:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:18:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:18:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:18:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:18:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:18:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:18:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.18s (batch: 4.13s, save: 8.06s)	[pipeline.py: 300]
+05/09 01:18:24 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.36s:
+  episode_total: mean=181.69s, total=181.69s, count=1, min=181692.5ms, max=181692.5ms
+  sensor_polling: mean=447.4ms, total=134.23s, count=300, min=376.4ms, max=651.8ms
+  save_trajectories: mean=8.06s, total=8.06s, count=1, min=8055.4ms, max=8055.4ms
+  physics_step: mean=22.0ms, total=6.59s, count=300, min=13.7ms, max=55.5ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4126.6ms, max=4126.6ms
+  task_sampling: mean=359.0ms, total=359.0ms, count=1, min=359.0ms, max=359.0ms
+  task_specific_sample: mean=355.6ms, total=355.6ms, count=1, min=355.6ms, max=355.6ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=378.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:18:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:18:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:18:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:18:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:18:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:18:26 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:18:26 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:18:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:18:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007765m	[env.py: 870]
+05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:18:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.08184292  0.6194876  -0.00776476] yaw=-163.2deg	[env.py: 1019]
+05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:18:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.9ms, total=190.0ms	[env.py: 1075]
+05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.082, 0.619, -0.008)	[env.py: 1079]
+05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.2 deg	[env.py: 1082]
+05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.748m	[env.py: 1086]
+05/09 01:18:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:18:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:18:26 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 01:18:26 INFO: [Worker 0] Worker 0 house 1 episode 26/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:18:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:18:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:18:26 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:18:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:18:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.361s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:18:27 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.366[m] 83.727[deg]	[grasp_sample.py: 539]
+05/09 01:18:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:18:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:18:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:18:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:18:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:19:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:19:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:19:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:19:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:19:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:19:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:19:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:19:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:19:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:19:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:19:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:19:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:19:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 01:19:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 01:19:44 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 01:19:44 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:19:44 INFO: [Worker 0] Collision-checked 388 grasps in 0.072s, found 318 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:19:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.550s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:19:46 INFO: [Worker 0] Feasible grasp found 346 (originally 152): w/ 0.100[m] 0.284[deg]	[grasp_sample.py: 539]
+05/09 01:19:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:19:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:19:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:19:51 INFO: [Worker 0] Worker 0 house 1 episode 26 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:19:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:20:01 INFO: [Worker 0] Worker 0 house 1 episode 26 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:20:14 INFO: [Worker 0] Saved videos eagerly for episode 40 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:20:14 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 01:20:14 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/09 01:20:19 INFO: [Worker 0] Worker 0 house 1 episode 27 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:20:25 INFO: [Worker 0] Saved videos eagerly for episode 42 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:20:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 01:20:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:20:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:20:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:20:25 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.45s (batch: 4.12s, save: 7.33s)	[pipeline.py: 300]
+05/09 01:20:26 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.43s:
+  episode_total: mean=182.50s, total=182.50s, count=1, min=182501.5ms, max=182501.5ms
+  sensor_polling: mean=448.0ms, total=126.78s, count=283, min=389.2ms, max=721.1ms
+  save_trajectories: mean=7.33s, total=7.33s, count=1, min=7333.3ms, max=7333.3ms
+  physics_step: mean=20.9ms, total=5.92s, count=283, min=16.0ms, max=58.3ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4121.7ms, max=4121.7ms
+  task_sampling: mean=434.1ms, total=434.1ms, count=1, min=434.1ms, max=434.1ms
+  task_specific_sample: mean=429.7ms, total=429.7ms, count=1, min=429.7ms, max=429.7ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=515.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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 01:20:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:20:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:20:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:20:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:20:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:20:27 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:20:27 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:20:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:20:27 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 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002117m	[env.py: 870]
+05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:20:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06441383  0.31504746 -0.00211694] yaw=172.7deg	[env.py: 1019]
+05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83776197  0.33219435 -0.00211694] yaw=182.8deg	[env.py: 1019]
+05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89867903  0.82348114 -0.00211694] yaw=-150.2deg	[env.py: 1019]
+05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:20:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.7ms, total=144.7ms	[env.py: 1075]
+05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.064, 0.315, -0.002)	[env.py: 1079]
+05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.7 deg	[env.py: 1082]
+05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.748m	[env.py: 1086]
+05/09 01:20:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:20:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:20:28 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 01:20:28 INFO: [Worker 0] Worker 0 house 1 episode 27/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:20:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:20:28 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 01:20:28 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:20:28 INFO: [Worker 0] Collision-checked 388 grasps in 0.088s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:20:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.395s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:20:28 INFO: [Worker 0] Feasible grasp found 386 (originally 192): w/ 0.371[m] 82.721[deg]	[grasp_sample.py: 539]
+05/09 01:20:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:20:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:20:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:20:34 INFO: [Worker 0] Worker 0 house 1 episode 26 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:20:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:20:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:20:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.90s (batch: 3.74s, save: 8.16s)	[pipeline.py: 300]
+05/09 01:20:37 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.43s:
+  episode_total: mean=196.63s, total=196.63s, count=1, min=196628.9ms, max=196628.9ms
+  sensor_polling: mean=447.7ms, total=134.30s, count=300, min=394.9ms, max=796.1ms
+  save_trajectories: mean=8.16s, total=8.16s, count=1, min=8155.9ms, max=8155.9ms
+  physics_step: mean=21.3ms, total=6.39s, count=300, min=13.6ms, max=62.0ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3742.1ms, max=3742.1ms
+  task_sampling: mean=426.5ms, total=426.5ms, count=1, min=426.5ms, max=426.5ms
+  task_specific_sample: mean=423.0ms, total=423.0ms, count=1, min=423.0ms, max=423.0ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=380.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:20:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:20:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:20:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:20:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:20:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:20:39 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:20:39 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:20:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:20:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049665m	[env.py: 870]
+05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:20:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.28204186  0.93022533  0.04966542] yaw=-130.3deg	[env.py: 1019]
+05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.2208785   0.84805327  0.04966542] yaw=-152.8deg	[env.py: 1019]
+05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:20:39 INFO: [Worker 0] Saved videos eagerly for episode 42 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:20:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 01:20:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97167105  0.23194209  0.04966542] yaw=167.0deg	[env.py: 1019]
+05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:20:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=406.0ms, total=406.0ms	[env.py: 1075]
+05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.282, 0.930, 0.050)	[env.py: 1079]
+05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.3 deg	[env.py: 1082]
+05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.727m	[env.py: 1086]
+05/09 01:20:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:20:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:20:40 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 01:20:40 INFO: [Worker 0] Worker 0 house 1 episode 27/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:20:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:20:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:20:40 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:20:40 INFO: [Worker 0] Collision-checked 388 grasps in 0.072s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:20:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.894s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:20:41 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.346[m] 86.001[deg]	[grasp_sample.py: 539]
+05/09 01:20:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:20:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:20:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:20:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:20:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:20:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.17s (batch: 4.57s, save: 9.60s)	[pipeline.py: 300]
+05/09 01:20:54 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.35s:
+  episode_total: mean=176.68s, total=176.68s, count=1, min=176679.3ms, max=176679.3ms
+  sensor_polling: mean=435.0ms, total=130.49s, count=300, min=378.2ms, max=631.7ms
+  save_trajectories: mean=9.60s, total=9.60s, count=1, min=9601.7ms, max=9601.7ms
+  physics_step: mean=20.9ms, total=6.27s, count=300, min=13.9ms, max=49.6ms
+  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4570.9ms, max=4570.9ms
+  task_sampling: mean=346.4ms, total=346.4ms, count=1, min=346.4ms, max=346.4ms
+  task_specific_sample: mean=343.3ms, total=343.3ms, count=1, min=343.3ms, max=343.3ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=374.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.5us, 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 01:20:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:20:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:20:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:20:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:20:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:20:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:20:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:20:56 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:20:56 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 01:20:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:20:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043599m	[env.py: 870]
+05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:20:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87153437  0.780787    0.04359947] yaw=-148.1deg	[env.py: 1019]
+05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95430644  0.46802439  0.04359947] yaw=-177.4deg	[env.py: 1019]
+05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96506005  0.53847266  0.04359947] yaw=-162.6deg	[env.py: 1019]
+05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:20:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.8ms, total=218.8ms	[env.py: 1075]
+05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.872, 0.781, 0.044)	[env.py: 1079]
+05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg	[env.py: 1082]
+05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
+05/09 01:20:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:20:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:20:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:20:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:20:56 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 01:20:56 INFO: [Worker 0] Worker 0 house 1 episode 28/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:20:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:20:57 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 01:20:57 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:20:57 INFO: [Worker 0] Saved videos eagerly for episode 42 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:20:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 01:20:57 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
+05/09 01:20:57 INFO: [Worker 0] Collision-checked 388 grasps in 0.067s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:20:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.576s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:20:57 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.603[m] 82.553[deg]	[grasp_sample.py: 539]
+05/09 01:20:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:20:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:20:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:21:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:21:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:21:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:21:08 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.40s (batch: 3.81s, save: 7.59s)	[pipeline.py: 300]
+05/09 01:21:09 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.48s:
+  episode_total: mean=162.69s, total=162.69s, count=1, min=162686.6ms, max=162686.6ms
+  sensor_polling: mean=438.9ms, total=118.07s, count=269, min=368.2ms, max=635.3ms
+  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7590.6ms, max=7590.6ms
+  physics_step: mean=22.5ms, total=6.05s, count=269, min=13.7ms, max=62.3ms
+  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3807.4ms, max=3807.4ms
+  task_sampling: mean=484.7ms, total=484.7ms, count=1, min=484.7ms, max=484.7ms
+  task_specific_sample: mean=481.3ms, total=481.3ms, count=1, min=481.3ms, max=481.3ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=362.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:21:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:21:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:21:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:21:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:21:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:21:10 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:21:10 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 01:21:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:21:10 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 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047064m	[env.py: 870]
+05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:21:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.20594438  0.96643139 -0.0470636 ] yaw=-147.3deg	[env.py: 1019]
+05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.1727157   0.98087972 -0.0470636 ] yaw=-143.2deg	[env.py: 1019]
+05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.16293056  0.71935817 -0.0470636 ] yaw=-166.3deg	[env.py: 1019]
+05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:21:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.3ms, total=149.4ms	[env.py: 1075]
+05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.206, 0.966, -0.047)	[env.py: 1079]
+05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg	[env.py: 1082]
+05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m	[env.py: 1086]
+05/09 01:21:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:21:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:21:11 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 01:21:11 INFO: [Worker 0] Worker 0 house 1 episode 27/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:21:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:21:11 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 01:21:11 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:21:11 INFO: [Worker 0] Collision-checked 388 grasps in 0.095s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:21:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.542s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:21:11 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.449[m] 79.238[deg]	[grasp_sample.py: 539]
+05/09 01:21:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:21:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:21:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:21:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:21:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:21:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:21:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:21:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:21:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:21:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:22:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:22:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:22:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:22:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:22:48 INFO: [Worker 0] Worker 0 house 1 episode 27 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:22:50 INFO: [Worker 0] Worker 0 house 1 episode 27 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:23:06 INFO: [Worker 0] Saved videos eagerly for episode 41 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:23:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 01:23:06 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
+05/09 01:23:10 INFO: [Worker 0] Saved videos eagerly for episode 43 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:23:10 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 01:23:10 INFO: [Worker 0] Preparing episode data: 266 timesteps	[save_utils.py: 278]
+05/09 01:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:23:19 INFO: [Worker 0] Worker 0 house 1 episode 28 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:23:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:23:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:23:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:23:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.03s (batch: 4.44s, save: 9.59s)	[pipeline.py: 300]
+05/09 01:23:21 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.40s:
+  episode_total: mean=173.52s, total=173.52s, count=1, min=173516.9ms, max=173516.9ms
+  sensor_polling: mean=454.1ms, total=122.16s, count=269, min=385.0ms, max=921.5ms
+  save_trajectories: mean=9.59s, total=9.59s, count=1, min=9590.6ms, max=9590.6ms
+  physics_step: mean=22.2ms, total=5.96s, count=269, min=16.8ms, max=69.1ms
+  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4439.4ms, max=4439.4ms
+  task_sampling: mean=395.9ms, total=395.9ms, count=1, min=395.9ms, max=395.9ms
+  task_specific_sample: mean=391.9ms, total=391.9ms, count=1, min=391.9ms, max=391.9ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=437.8us, 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 01:23:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:23:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:23:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:23:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:23:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:23:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:23:22 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:23:22 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:23:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:23:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013697m	[env.py: 870]
+05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:23:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93010173  0.816054    0.01369657] yaw=-157.5deg	[env.py: 1019]
+05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91902385  0.58896894  0.01369657] yaw=-164.1deg	[env.py: 1019]
+05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:23:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.0ms, total=187.0ms	[env.py: 1075]
+05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.816, 0.014)	[env.py: 1079]
+05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.5 deg	[env.py: 1082]
+05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m	[env.py: 1086]
+05/09 01:23:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:23:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:23:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:23:23 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 01:23:23 INFO: [Worker 0] Worker 0 house 1 episode 28/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:23:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:23:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:23:23 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:23:23 INFO: [Worker 0] Collision-checked 388 grasps in 0.072s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:23:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:23:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:23:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.67s (batch: 4.55s, save: 9.12s)	[pipeline.py: 300]
+05/09 01:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:23:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.291s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:23:24 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.564[m] 86.844[deg]	[grasp_sample.py: 539]
+05/09 01:23:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:23:24 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.71s:
+  episode_total: mean=165.18s, total=165.18s, count=1, min=165183.0ms, max=165183.0ms
+  sensor_polling: mean=456.0ms, total=120.85s, count=265, min=389.0ms, max=879.8ms
+  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9123.9ms, max=9123.9ms
+  physics_step: mean=21.7ms, total=5.74s, count=265, min=17.1ms, max=40.4ms
+  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4549.1ms, max=4549.1ms
+  task_sampling: mean=714.0ms, total=714.0ms, count=1, min=714.0ms, max=714.0ms
+  task_specific_sample: mean=709.9ms, total=709.9ms, count=1, min=709.9ms, max=709.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=556.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=22.2us, 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 01:23:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:23:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:23:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:23:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:23:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:23:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:23:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:23:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:23:26 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:23:26 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:23:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:23:26 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 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023679m	[env.py: 870]
+05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:23:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93194141  0.75754023 -0.02367889] yaw=-149.0deg	[env.py: 1019]
+05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:23:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=174.5ms, total=174.5ms	[env.py: 1075]
+05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.758, -0.024)	[env.py: 1079]
+05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.0 deg	[env.py: 1082]
+05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
+05/09 01:23:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:23:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:23:26 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 01:23:26 INFO: [Worker 0] Worker 0 house 1 episode 28/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:23:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:23:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:23:26 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:23:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:23:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.149s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:23:28 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.611[m] 98.320[deg]	[grasp_sample.py: 539]
+05/09 01:23:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:23:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:23:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:23:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:23:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 01:23:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 01:23:28 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 01:23:28 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:23:29 INFO: [Worker 0] Collision-checked 388 grasps in 0.097s, found 324 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:23:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.483s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:23:30 INFO: [Worker 0] Feasible grasp found 124 (originally 124): w/ 0.024[m] 0.784[deg]	[grasp_sample.py: 539]
+05/09 01:23:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:23:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:23:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:23:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:23:39 INFO: [Worker 0] Saved videos eagerly for episode 43 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:23:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 01:23:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:23:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:23:46 INFO: [Worker 0] Worker 0 house 1 episode 27 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:23:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:23:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:23:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.94s (batch: 4.27s, save: 9.67s)	[pipeline.py: 300]
+05/09 01:23:53 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.50s:
+  episode_total: mean=177.44s, total=177.44s, count=1, min=177442.2ms, max=177442.2ms
+  sensor_polling: mean=441.2ms, total=132.37s, count=300, min=382.6ms, max=711.2ms
+  save_trajectories: mean=9.67s, total=9.67s, count=1, min=9665.4ms, max=9665.4ms
+  physics_step: mean=21.7ms, total=6.52s, count=300, min=16.8ms, max=54.9ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4269.6ms, max=4269.6ms
+  task_sampling: mean=504.6ms, total=504.6ms, count=1, min=504.6ms, max=504.6ms
+  task_specific_sample: mean=500.5ms, total=500.5ms, count=1, min=500.5ms, max=500.5ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=462.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.0us, 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 01:23:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:23:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:23:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:23:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:23:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:23:55 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:23:55 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 01:23:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:23:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039664m	[env.py: 870]
+05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:23:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03631401  0.66776414  0.03966372] yaw=-165.0deg	[env.py: 1019]
+05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83369284  0.21869311  0.03966372] yaw=157.3deg	[env.py: 1019]
+05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01313047  0.53244392  0.03966372] yaw=-166.0deg	[env.py: 1019]
+05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:23:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.4ms, total=100.4ms	[env.py: 1075]
+05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.036, 0.668, 0.040)	[env.py: 1079]
+05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.0 deg	[env.py: 1082]
+05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
+05/09 01:23:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:23:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:23:55 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 01:23:55 INFO: [Worker 0] Worker 0 house 1 episode 29/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:23:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:23:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:23:55 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:23:55 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:23:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.449s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:23:56 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.429[m] 91.995[deg]	[grasp_sample.py: 539]
+05/09 01:23:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:23:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:23:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:24:06 INFO: [Worker 0] Saved videos eagerly for episode 43 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:24:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 01:24:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:24:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:24:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:24:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:24:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.05s (batch: 3.96s, save: 10.09s)	[pipeline.py: 300]
+05/09 01:24:21 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.45s:
+  episode_total: mean=191.03s, total=191.03s, count=1, min=191032.7ms, max=191032.7ms
+  sensor_polling: mean=448.2ms, total=134.45s, count=300, min=381.4ms, max=726.4ms
+  save_trajectories: mean=10.09s, total=10.09s, count=1, min=10087.4ms, max=10087.4ms
+  physics_step: mean=22.5ms, total=6.76s, count=300, min=13.5ms, max=62.1ms
+  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3960.1ms, max=3960.1ms
+  task_sampling: mean=450.6ms, total=450.6ms, count=1, min=450.6ms, max=450.6ms
+  task_specific_sample: mean=447.1ms, total=447.1ms, count=1, min=447.1ms, max=447.1ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=378.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:24:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:24:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:24:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:24:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:24:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:24:23 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:24:23 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 01:24:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:24:23 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 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018062m	[env.py: 870]
+05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:24:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86633862  0.43057142  0.01806195] yaw=-172.2deg	[env.py: 1019]
+05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.05117672  0.9075298   0.01806195] yaw=-153.4deg	[env.py: 1019]
+05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87076541  0.34443002  0.01806195] yaw=178.1deg	[env.py: 1019]
+05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:24:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.6ms, total=199.6ms	[env.py: 1075]
+05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.866, 0.431, 0.018)	[env.py: 1079]
+05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.2 deg	[env.py: 1082]
+05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
+05/09 01:24:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:24:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:24:23 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
+05/09 01:24:23 INFO: [Worker 0] Worker 0 house 1 episode 28/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:24:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:24:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:24:23 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:24:23 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:24:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.457s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:24:24 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.531[m] 86.152[deg]	[grasp_sample.py: 539]
+05/09 01:24:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:24:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:24:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:24:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:24:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:24:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:24:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:24:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:24:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:24:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:24:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:25:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:25:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:25:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:25:48 INFO: [Worker 0] Worker 0 house 1 episode 28 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:25:49 INFO: [Worker 0] Worker 0 house 1 episode 28 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:26:08 INFO: [Worker 0] Saved videos eagerly for episode 42 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:26:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 01:26:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:26:08 INFO: [Worker 0] Saved videos eagerly for episode 44 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:26:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 01:26:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:26:12 INFO: [Worker 0] Worker 0 house 1 episode 29 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:26:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:26:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:26:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.31s (batch: 4.49s, save: 9.82s)	[pipeline.py: 300]
+05/09 01:26:22 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.45s:
+  episode_total: mean=180.23s, total=180.23s, count=1, min=180229.2ms, max=180229.2ms
+  sensor_polling: mean=448.5ms, total=134.55s, count=300, min=395.1ms, max=780.8ms
+  save_trajectories: mean=9.82s, total=9.82s, count=1, min=9822.9ms, max=9822.9ms
+  physics_step: mean=21.7ms, total=6.52s, count=300, min=16.6ms, max=72.5ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4490.5ms, max=4490.5ms
+  task_sampling: mean=453.2ms, total=453.2ms, count=1, min=453.2ms, max=453.2ms
+  task_specific_sample: mean=450.0ms, total=450.0ms, count=1, min=450.0ms, max=450.0ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=361.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:26:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:26:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:26:23 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.68s (batch: 4.76s, save: 9.92s)	[pipeline.py: 300]
+05/09 01:26:23 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.44s:
+  episode_total: mean=177.69s, total=177.69s, count=1, min=177687.7ms, max=177687.7ms
+  sensor_polling: mean=437.9ms, total=131.37s, count=300, min=388.1ms, max=831.2ms
+  save_trajectories: mean=9.92s, total=9.92s, count=1, min=9917.2ms, max=9917.2ms
+  physics_step: mean=21.1ms, total=6.33s, count=300, min=16.6ms, max=52.2ms
+  save_batch_prep: mean=4.76s, total=4.76s, count=1, min=4764.5ms, max=4764.5ms
+  task_sampling: mean=438.7ms, total=438.7ms, count=1, min=438.7ms, max=438.7ms
+  task_specific_sample: mean=435.1ms, total=435.1ms, count=1, min=435.1ms, max=435.1ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=367.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:26:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:26:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:26:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:26:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:26:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:26:24 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:26:24 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 01:26:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:26:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040836m	[env.py: 870]
+05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:26:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07912973  0.04041084  0.04083612] yaw=159.5deg	[env.py: 1019]
+05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1955076   0.98119869  0.04083612] yaw=-132.2deg	[env.py: 1019]
+05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15311999  0.89227894  0.04083612] yaw=-152.5deg	[env.py: 1019]
+05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:26:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=73.3ms, total=73.4ms	[env.py: 1075]
+05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.079, 0.040, 0.041)	[env.py: 1079]
+05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.5 deg	[env.py: 1082]
+05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
+05/09 01:26:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:26:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:26:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 01:26:24 INFO: [Worker 0] Worker 0 house 1 episode 29/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:26:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:26:24 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 01:26:24 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:26:24 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:26:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.455s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:26:25 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.465[m] 85.880[deg]	[grasp_sample.py: 539]
+05/09 01:26:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:26:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:26:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:26:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:26:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:26:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:26:25 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:26:25 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:26:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:26:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033880m	[env.py: 870]
+05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:26:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9818079   0.19617685 -0.03388023] yaw=154.0deg	[env.py: 1019]
+05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08601258  0.24332214 -0.03388023] yaw=159.6deg	[env.py: 1019]
+05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.09336218  0.43562393 -0.03388023] yaw=-177.9deg	[env.py: 1019]
+05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:26:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.1ms, total=203.1ms	[env.py: 1075]
+05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.196, -0.034)	[env.py: 1079]
+05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.0 deg	[env.py: 1082]
+05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m	[env.py: 1086]
+05/09 01:26:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:26:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:26:25 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 01:26:25 INFO: [Worker 0] Worker 0 house 1 episode 29/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:26:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:26:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:26:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:26:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:26:26 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:26:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.078s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:26:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.459s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:26:26 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.471[m] 79.494[deg]	[grasp_sample.py: 539]
+05/09 01:26:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:26:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:26:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:26:33 INFO: [Worker 0] Saved videos eagerly for episode 44 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:26:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 01:26:33 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/09 01:26:45 INFO: [Worker 0] Worker 0 house 1 episode 28 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:26:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:26:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:26:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.65s (batch: 3.89s, save: 8.76s)	[pipeline.py: 300]
+05/09 01:26:46 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.35s:
+  episode_total: mean=171.39s, total=171.39s, count=1, min=171393.4ms, max=171393.4ms
+  sensor_polling: mean=447.3ms, total=126.58s, count=283, min=386.5ms, max=736.7ms
+  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8763.2ms, max=8763.2ms
+  physics_step: mean=22.2ms, total=6.29s, count=283, min=17.0ms, max=53.3ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3890.8ms, max=3890.8ms
+  task_sampling: mean=345.7ms, total=345.7ms, count=1, min=345.7ms, max=345.7ms
+  task_specific_sample: mean=342.3ms, total=342.3ms, count=1, min=342.3ms, max=342.3ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=362.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.0us, 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 01:26:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:26:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:26:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:26:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:26:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:26:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:26:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:26:48 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:26:48 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:26:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:26:48 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 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007192m	[env.py: 870]
+05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:26:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.27708189  0.94197261 -0.00719225] yaw=-143.3deg	[env.py: 1019]
+05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99039458  0.3663421  -0.00719225] yaw=187.1deg	[env.py: 1019]
+05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.34915778  0.97387325 -0.00719225] yaw=-132.4deg	[env.py: 1019]
+05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:26:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=222.8ms, total=222.9ms	[env.py: 1075]
+05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.277, 0.942, -0.007)	[env.py: 1079]
+05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.3 deg	[env.py: 1082]
+05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.738m	[env.py: 1086]
+05/09 01:26:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:26:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:26:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:26:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:26:49 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 01:26:49 INFO: [Worker 0] Worker 0 house 1 episode 30/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:26:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:26:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:26:49 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:26:49 INFO: [Worker 0] Collision-checked 388 grasps in 0.182s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:26:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.947s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:26:50 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.476[m] 98.040[deg]	[grasp_sample.py: 539]
+05/09 01:26:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:26:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:26:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:27:07 INFO: [Worker 0] Saved videos eagerly for episode 44 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:27:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 01:27:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:27:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:27:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:27:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:27:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:27:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:27:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.21s (batch: 3.60s, save: 8.61s)	[pipeline.py: 300]
+05/09 01:27:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:27:20 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.48s:
+  episode_total: mean=177.39s, total=177.39s, count=1, min=177385.5ms, max=177385.5ms
+  sensor_polling: mean=436.6ms, total=130.98s, count=300, min=370.7ms, max=726.3ms
+  save_trajectories: mean=8.61s, total=8.61s, count=1, min=8607.1ms, max=8607.1ms
+  physics_step: mean=23.6ms, total=7.08s, count=300, min=13.6ms, max=53.4ms
+  save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3603.4ms, max=3603.4ms
+  task_sampling: mean=477.1ms, total=477.1ms, count=1, min=477.1ms, max=477.1ms
+  task_specific_sample: mean=473.6ms, total=473.6ms, count=1, min=473.6ms, max=473.6ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=362.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:27:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:27:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:27:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:27:22 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:27:22 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:27:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:27:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003606m	[env.py: 870]
+05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:27:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01324464  1.02269651 -0.00360633] yaw=-135.1deg	[env.py: 1019]
+05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.29738997  0.92892701 -0.00360633] yaw=-127.9deg	[env.py: 1019]
+05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85301569  0.20468319 -0.00360633] yaw=178.1deg	[env.py: 1019]
+05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:27:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.3ms, total=206.3ms	[env.py: 1075]
+05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.013, 1.023, -0.004)	[env.py: 1079]
+05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.1 deg	[env.py: 1082]
+05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/09 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:27:23 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 01:27:23 INFO: [Worker 0] Worker 0 house 1 episode 29/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:27:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:27:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:27:23 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:27:23 INFO: [Worker 0] Collision-checked 388 grasps in 0.072s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:27:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:27:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.567s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:27:24 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.681[m] 94.187[deg]	[grasp_sample.py: 539]
+05/09 01:27:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:27:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:27:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:27:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:27:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:27:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:27:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:28:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:28:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:28:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:28:44 INFO: [Worker 0] Worker 0 house 1 episode 29 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:28:45 INFO: [Worker 0] Worker 0 house 1 episode 29 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:28:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:28:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:28:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:28:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:28:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:29:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:29:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:29:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:29:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 01:29:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 01:29:04 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 01:29:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:29:04 INFO: [Worker 0] Collision-checked 388 grasps in 0.081s, found 314 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:29:04 INFO: [Worker 0] Saved videos eagerly for episode 45 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:29:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 01:29:04 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
+05/09 01:29:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.421s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:29:05 INFO: [Worker 0] Feasible grasp found 58 (originally 58): w/ 0.027[m] 0.671[deg]	[grasp_sample.py: 539]
+05/09 01:29:05 INFO: [Worker 0] Saved videos eagerly for episode 43 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:29:05 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 01:29:05 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/09 01:29:06 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/09 01:29:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:29:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:29:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:29:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:29:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:29:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:29:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:29:08 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:29:08 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:29:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:29:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038606m	[env.py: 870]
+05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:29:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05605506  0.31732774 -0.03860629] yaw=163.6deg	[env.py: 1019]
+05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09099751  0.34543595 -0.03860629] yaw=175.5deg	[env.py: 1019]
+05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.05970976  0.55536543 -0.03860629] yaw=-161.7deg	[env.py: 1019]
+05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:29:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.2ms, total=135.2ms	[env.py: 1075]
+05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.056, 0.317, -0.039)	[env.py: 1079]
+05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.6 deg	[env.py: 1082]
+05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
+05/09 01:29:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:29:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:29:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:29:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:29:08 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 01:29:08 INFO: [Worker 0] Worker 0 house 1 episode 31/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:29:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:29:08 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 01:29:08 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:29:08 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:29:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.455s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:29:09 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.454[m] 89.433[deg]	[grasp_sample.py: 539]
+05/09 01:29:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:29:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:29:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:29:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:29:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:29:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.55s (batch: 3.74s, save: 9.81s)	[pipeline.py: 300]
+05/09 01:29:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:29:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:29:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.85s (batch: 3.85s, save: 9.00s)	[pipeline.py: 300]
+05/09 01:29:19 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.50s:
+  episode_total: mean=173.88s, total=173.88s, count=1, min=173882.5ms, max=173882.5ms
+  sensor_polling: mean=446.3ms, total=128.97s, count=289, min=402.6ms, max=852.5ms
+  save_trajectories: mean=9.81s, total=9.81s, count=1, min=9810.5ms, max=9810.5ms
+  physics_step: mean=21.0ms, total=6.06s, count=289, min=13.6ms, max=52.5ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3743.6ms, max=3743.6ms
+  task_sampling: mean=500.1ms, total=500.1ms, count=1, min=500.1ms, max=500.1ms
+  task_specific_sample: mean=495.6ms, total=495.6ms, count=1, min=495.6ms, max=495.6ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=526.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:29:19 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.35s:
+  episode_total: mean=175.01s, total=175.01s, count=1, min=175006.1ms, max=175006.1ms
+  sensor_polling: mean=454.8ms, total=130.53s, count=287, min=406.4ms, max=855.9ms
+  save_trajectories: mean=9.00s, total=9.00s, count=1, min=9004.5ms, max=9004.5ms
+  physics_step: mean=21.0ms, total=6.04s, count=287, min=14.2ms, max=69.2ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3845.2ms, max=3845.2ms
+  task_sampling: mean=345.7ms, total=345.7ms, count=1, min=345.7ms, max=345.7ms
+  task_specific_sample: mean=342.5ms, total=342.5ms, count=1, min=342.5ms, max=342.5ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=371.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.8us, 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 01:29:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:29:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:29:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:29:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:29:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:29:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:29:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:29:21 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:29:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:29:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021440m	[env.py: 870]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:29:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:29:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:29:21 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:29:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:29:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.049002m	[env.py: 870]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:29:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94505358  0.17641668 -0.04900248] yaw=156.5deg	[env.py: 1019]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07959883  0.61706815  0.02144033] yaw=-157.6deg	[env.py: 1019]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.14549542  0.94701477 -0.04900248] yaw=-137.1deg	[env.py: 1019]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97468782  0.56985388  0.02144033] yaw=-180.9deg	[env.py: 1019]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93399626  0.42405558  0.02144033] yaw=180.3deg	[env.py: 1019]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:29:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.9ms, total=155.9ms	[env.py: 1075]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.080, 0.617, 0.021)	[env.py: 1079]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.6 deg	[env.py: 1082]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.750m	[env.py: 1086]
+05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:29:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=242.1ms, total=242.1ms	[env.py: 1075]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.945, 0.176, -0.049)	[env.py: 1079]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.5 deg	[env.py: 1082]
+05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
+05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:29:21 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 01:29:21 INFO: [Worker 0] Worker 0 house 1 episode 30/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:29:21 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
+05/09 01:29:21 INFO: [Worker 0] Worker 0 house 1 episode 30/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:29:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:29:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:29:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:29:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.161s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:29:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:29:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:29:22 INFO: [Worker 0] Collision-checked 388 grasps in 0.078s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:29:22 INFO: [Worker 0] Collision-checked 388 grasps in 0.080s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:29:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.879s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:29:23 INFO: [Worker 0] Feasible grasp found 344 (originally 150): w/ 0.410[m] 96.923[deg]	[grasp_sample.py: 539]
+05/09 01:29:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:29:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.093s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:29:23 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.604[m] 97.674[deg]	[grasp_sample.py: 539]
+05/09 01:29:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:29:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:29:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:29:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:29:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:29:46 INFO: [Worker 0] Worker 0 house 1 episode 29 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:29:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:30:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:30:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:30:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:30:09 INFO: [Worker 0] Saved videos eagerly for episode 45 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:30:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 01:30:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:30:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:30:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:30:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/09 01:30:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
+05/09 01:30:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.40s (batch: 3.94s, save: 8.46s)	[pipeline.py: 300]
+05/09 01:30:23 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.59s:
+  episode_total: mean=180.64s, total=180.64s, count=1, min=180635.7ms, max=180635.7ms
+  sensor_polling: mean=440.6ms, total=132.17s, count=300, min=370.8ms, max=810.1ms
+  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8455.9ms, max=8455.9ms
+  physics_step: mean=21.0ms, total=6.29s, count=300, min=16.9ms, max=41.7ms
+  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3939.8ms, max=3939.8ms
+  task_sampling: mean=593.7ms, total=593.7ms, count=1, min=593.7ms, max=593.7ms
+  task_specific_sample: mean=590.2ms, total=590.2ms, count=1, min=590.2ms, max=590.2ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=434.3us, 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 01:30:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:30:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:30:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:30:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:30:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:30:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:30:25 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:30:25 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:30:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:30:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021368m	[env.py: 870]
+05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:30:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.17556951  1.20036799 -0.02136846] yaw=-120.8deg	[env.py: 1019]
+05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01773532  1.02848691 -0.02136846] yaw=-136.3deg	[env.py: 1019]
+05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07140016  0.12766047 -0.02136846] yaw=165.1deg	[env.py: 1019]
+05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:30:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=96.8ms, total=96.9ms	[env.py: 1075]
+05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.176, 1.200, -0.021)	[env.py: 1079]
+05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -120.8 deg	[env.py: 1082]
+05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
+05/09 01:30:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:30:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:30:25 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 01:30:25 INFO: [Worker 0] Worker 0 house 1 episode 30/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:30:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:30:25 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 01:30:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:30:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.074s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:30:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.956s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:30:27 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.649[m] 91.777[deg]	[grasp_sample.py: 539]
+05/09 01:30:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:30:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:30:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:30:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:30:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:31:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:31:25 INFO: [Worker 0] Worker 0 house 1 episode 31 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:31:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:31:36 INFO: [Worker 0] Worker 0 house 1 episode 30 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:31:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:31:41 INFO: [Worker 0] Worker 0 house 1 episode 30 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:31:44 INFO: [Worker 0] Saved videos eagerly for episode 45 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:31:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 01:31:44 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
+05/09 01:31:48 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 01:31:48 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.85s:
+  episode_total: mean=149.34s, total=298.68s, count=2, min=138169.1ms, max=160508.9ms
+  sensor_polling: mean=439.9ms, total=242.82s, count=552, min=379.6ms, max=865.2ms
+  physics_step: mean=21.0ms, total=11.61s, count=552, min=13.5ms, max=61.8ms
+  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3954.2ms, max=3954.2ms
+  task_sampling: mean=424.7ms, total=849.4ms, count=2, min=366.6ms, max=482.8ms
+  task_specific_sample: mean=421.0ms, total=841.9ms, count=2, min=363.6ms, max=478.3ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.3ms, max=3.1ms
+  mj_forward_sync: mean=427.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:31:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:31:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:31:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:31:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:31:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:31:50 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:31:50 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:31:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:31:50 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 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000185m	[env.py: 870]
+05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:31:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-9.25819792e-01 -5.29464023e-03  1.85267579e-04] yaw=153.7deg	[env.py: 1019]
+05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.27372841e+00  9.29124159e-01  1.85267579e-04] yaw=-145.4deg	[env.py: 1019]
+05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-9.03727348e-01  6.14373196e-01  1.85267579e-04] yaw=-173.2deg	[env.py: 1019]
+05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:31:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.5ms, total=177.6ms	[env.py: 1075]
+05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, -0.005, 0.000)	[env.py: 1079]
+05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.7 deg	[env.py: 1082]
+05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
+05/09 01:31:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:31:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:31:50 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 01:31:50 INFO: [Worker 0] Worker 0 house 1 episode 32/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:31:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:31:50 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 01:31:50 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:31:51 INFO: [Worker 0] Collision-checked 388 grasps in 0.080s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:31:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.424s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:31:52 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.626[m] 89.395[deg]	[grasp_sample.py: 539]
+05/09 01:31:53 INFO: [Worker 0] Saved videos eagerly for episode 46 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:31:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 01:31:53 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/09 01:31:53 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/09 01:31:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:31:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:31:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:31:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:31:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:31:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:31:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:31:55 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:31:55 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 01:31:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:31:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045031m	[env.py: 870]
+05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:31:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 148.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89181255  0.49993797 -0.04503069] yaw=-177.1deg	[env.py: 1019]
+05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:31:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=256.5ms, total=256.6ms	[env.py: 1075]
+05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.500, -0.045)	[env.py: 1079]
+05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.1 deg	[env.py: 1082]
+05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/09 01:31:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:31:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:31:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:31:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:31:55 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
+05/09 01:31:55 INFO: [Worker 0] Worker 0 house 1 episode 33/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:31:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:31:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:31:55 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:31:56 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:31:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.370s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:31:57 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.583[m] 96.841[deg]	[grasp_sample.py: 539]
+05/09 01:31:57 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/09 01:31:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:31:57 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=0.59s:
+  episode_total: mean=156.11s, total=156.11s, count=1, min=156111.8ms, max=156111.8ms
+  sensor_polling: mean=437.0ms, total=123.24s, count=282, min=393.7ms, max=792.7ms
+  physics_step: mean=20.9ms, total=5.88s, count=282, min=15.7ms, max=33.0ms
+  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3732.1ms, max=3732.1ms
+  task_sampling: mean=591.2ms, total=591.2ms, count=1, min=591.2ms, max=591.2ms
+  task_specific_sample: mean=586.5ms, total=586.5ms, count=1, min=586.5ms, max=586.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=709.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=23.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:31:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:31:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:31:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:31:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:31:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:31:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:31:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:31:59 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:31:59 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:31:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:31:59 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 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018080m	[env.py: 870]
+05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:31:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.10133579  0.25361447 -0.0180803 ] yaw=156.8deg	[env.py: 1019]
+05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02423668  0.6106501  -0.0180803 ] yaw=-159.8deg	[env.py: 1019]
+05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.93514156  0.55375264 -0.0180803 ] yaw=-161.4deg	[env.py: 1019]
+05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:31:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.4ms, total=180.4ms	[env.py: 1075]
+05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.101, 0.254, -0.018)	[env.py: 1079]
+05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.8 deg	[env.py: 1082]
+05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.724m	[env.py: 1086]
+05/09 01:31:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:31:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:31:59 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 01:31:59 INFO: [Worker 0] Worker 0 house 1 episode 31/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:31:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:31:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:31:59 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:31:59 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:32:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.396s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:32:00 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.435[m] 93.100[deg]	[grasp_sample.py: 539]
+05/09 01:32:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:32:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:32:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:32:00 INFO: [Worker 0] Saved videos eagerly for episode 44 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:32:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 01:32:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:32:04 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 01:32:04 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=0.57s:
+  episode_total: mean=163.15s, total=163.15s, count=1, min=163154.9ms, max=163154.9ms
+  sensor_polling: mean=431.5ms, total=129.45s, count=300, min=381.1ms, max=848.2ms
+  physics_step: mean=19.3ms, total=5.78s, count=300, min=15.6ms, max=43.0ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3793.9ms, max=3793.9ms
+  task_sampling: mean=565.9ms, total=565.9ms, count=1, min=565.9ms, max=565.9ms
+  task_specific_sample: mean=561.5ms, total=561.5ms, count=1, min=561.5ms, max=561.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=561.7us, 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 01:32:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:32:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:32:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:32:06 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:32:06 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 01:32:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:32:06 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 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019464m	[env.py: 870]
+05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:32:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.28788192  1.00949191  0.0194642 ] yaw=-126.3deg	[env.py: 1019]
+05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14126777  0.77205757  0.0194642 ] yaw=-141.3deg	[env.py: 1019]
+05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09107488  0.37896389  0.0194642 ] yaw=170.2deg	[env.py: 1019]
+05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:32:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=65.8ms, total=65.8ms	[env.py: 1075]
+05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.288, 1.009, 0.019)	[env.py: 1079]
+05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.3 deg	[env.py: 1082]
+05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m	[env.py: 1086]
+05/09 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:32:06 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 01:32:06 INFO: [Worker 0] Worker 0 house 1 episode 31/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:32:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:32:06 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 01:32:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:32:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:32:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.412s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:32:06 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.398[m] 79.674[deg]	[grasp_sample.py: 539]
+05/09 01:32:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:32:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:32:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:32:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:32:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:32:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:32:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:32:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:32:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:32:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:32:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 01:32:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 01:32:25 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 01:32:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:32:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.063s, found 338 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:32:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.399s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:32:27 INFO: [Worker 0] Feasible grasp found 229 (originally 35): w/ 0.062[m] 22.342[deg]	[grasp_sample.py: 539]
+05/09 01:32:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:32:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:32:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:32:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:32:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:32:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:32:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:32:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:32:47 INFO: [Worker 0] Worker 0 house 1 episode 30 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/09 01:32:47 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=False episode_total=0.39s:
+  episode_total: mean=142.66s, total=142.66s, count=1, min=142660.8ms, max=142660.8ms
+  sensor_polling: mean=410.1ms, total=123.03s, count=300, min=375.4ms, max=583.1ms
+  physics_step: mean=18.8ms, total=5.64s, count=300, min=16.9ms, max=30.4ms
+  task_sampling: mean=388.9ms, total=388.9ms, count=1, min=388.9ms, max=388.9ms
+  task_specific_sample: mean=382.1ms, total=382.1ms, count=1, min=382.1ms, max=382.1ms
+  scene_randomize: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
+  mj_forward_sync: mean=566.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.1us, 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 01:32:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:32:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:32:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:32:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:32:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:32:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:32:49 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:32:49 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 01:32:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:32:49 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 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048142m	[env.py: 870]
+05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:32:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15314639  0.16669564  0.04814197] yaw=150.3deg	[env.py: 1019]
+05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07525261  0.08937464  0.04814197] yaw=164.3deg	[env.py: 1019]
+05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.1510926   1.161032    0.04814197] yaw=-123.2deg	[env.py: 1019]
+05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:32:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.3ms, total=146.4ms	[env.py: 1075]
+05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.153, 0.167, 0.048)	[env.py: 1079]
+05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.3 deg	[env.py: 1082]
+05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.701m	[env.py: 1086]
+05/09 01:32:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:32:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:32:49 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 01:32:49 INFO: [Worker 0] Worker 0 house 1 episode 31/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:32:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:32:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:32:49 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:32:49 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:32:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:32:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.403s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:32:50 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.322[m] 81.795[deg]	[grasp_sample.py: 539]
+05/09 01:32:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:32:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:32:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:32:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:32:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:32:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:32:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:33:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:33:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:33:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:33:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:34:10 INFO: [Worker 0] Worker 0 house 1 episode 31 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:34:12 INFO: [Worker 0] Worker 0 house 1 episode 33 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:34:18 INFO: [Worker 0] Worker 0 house 1 episode 31 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:34:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:34:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:34:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:34:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:34:27 INFO: [Worker 0] Saved videos eagerly for episode 45 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:34:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 01:34:27 INFO: [Worker 0] Preparing episode data: 275 timesteps	[save_utils.py: 278]
+05/09 01:34:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:34:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:34:31 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 01:34:31 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.32s:
+  episode_total: mean=144.92s, total=144.92s, count=1, min=144919.8ms, max=144919.8ms
+  sensor_polling: mean=422.6ms, total=115.80s, count=274, min=399.6ms, max=706.5ms
+  physics_step: mean=19.3ms, total=5.27s, count=274, min=13.6ms, max=40.4ms
+  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3729.9ms, max=3729.9ms
+  task_sampling: mean=315.8ms, total=315.8ms, count=1, min=315.8ms, max=315.8ms
+  task_specific_sample: mean=312.2ms, total=312.2ms, count=1, min=312.2ms, max=312.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=384.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:34:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:34:31 INFO: [Worker 0] Saved videos eagerly for episode 46 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:34:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 01:34:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:34:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:34:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:34:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:34:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:34:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:34:32 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:34:32 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:34:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:34:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003644m	[env.py: 870]
+05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:34:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:34:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:34:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 01:34:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01656528  0.25259177 -0.00364397] yaw=164.2deg	[env.py: 1019]
+05/09 01:34:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:34:32 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.13385509  0.08324448 -0.00364397] yaw=158.8deg	[env.py: 1019]
+05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:34:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=136.0ms, total=136.0ms	[env.py: 1075]
+05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.017, 0.253, -0.004)	[env.py: 1079]
+05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.2 deg	[env.py: 1082]
+05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
+05/09 01:34:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:34:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:34:32 INFO: [Worker 0] Collision-checked 388 grasps in 0.101s, found 318 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:34:33 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 01:34:33 INFO: [Worker 0] Worker 0 house 1 episode 32/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:34:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:34:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:34:33 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:34:33 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:34:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.406s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:34:33 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.511[m] 100.830[deg]	[grasp_sample.py: 539]
+05/09 01:34:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:34:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:34:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:34:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.484s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:34:34 INFO: [Worker 0] Feasible grasp found 346 (originally 152): w/ 0.100[m] 0.165[deg]	[grasp_sample.py: 539]
+05/09 01:34:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:34:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:34:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:34:35 INFO: [Worker 0] Saved videos eagerly for episode 47 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:34:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 01:34:35 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/09 01:34:35 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/09 01:34:35 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.97s:
+  episode_total: mean=81.98s, total=163.97s, count=2, min=3423.4ms, max=160545.4ms
+  sensor_polling: mean=422.4ms, total=126.71s, count=300, min=393.9ms, max=765.5ms
+  physics_step: mean=19.7ms, total=5.92s, count=300, min=14.1ms, max=36.9ms
+  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3970.8ms, max=3970.8ms
+  task_sampling: mean=486.1ms, total=972.2ms, count=2, min=464.2ms, max=507.9ms
+  task_specific_sample: mean=482.8ms, total=965.7ms, count=2, min=460.6ms, max=505.1ms
+  scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=1.2ms, max=2.3ms
+  mj_forward_sync: mean=363.6us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.7us, 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 01:34:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:34:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:34:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:34:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:34:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:34:37 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:34:37 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:34:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:34:37 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 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013398m	[env.py: 870]
+05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:34:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97621404  0.91653744 -0.01339761] yaw=-141.6deg	[env.py: 1019]
+05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03476821  0.39996678 -0.01339761] yaw=168.9deg	[env.py: 1019]
+05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85187496  0.47970489 -0.01339761] yaw=-183.1deg	[env.py: 1019]
+05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:34:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.5ms, total=100.5ms	[env.py: 1075]
+05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.976, 0.917, -0.013)	[env.py: 1079]
+05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.6 deg	[env.py: 1082]
+05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
+05/09 01:34:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:34:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:34:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 01:34:37 INFO: [Worker 0] Worker 0 house 1 episode 34/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:34:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:34:37 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 01:34:37 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:34:38 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:34:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.625s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:34:38 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.571[m] 89.332[deg]	[grasp_sample.py: 539]
+05/09 01:34:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:34:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:34:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:34:39 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 01:34:39 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.47s:
+  episode_total: mean=160.67s, total=160.67s, count=1, min=160672.2ms, max=160672.2ms
+  sensor_polling: mean=427.4ms, total=122.23s, count=286, min=396.1ms, max=726.3ms
+  physics_step: mean=19.3ms, total=5.52s, count=286, min=13.6ms, max=29.4ms
+  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3859.2ms, max=3859.2ms
+  task_sampling: mean=469.6ms, total=469.6ms, count=1, min=469.6ms, max=469.6ms
+  task_specific_sample: mean=466.1ms, total=466.1ms, count=1, min=466.1ms, max=466.1ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=365.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:34:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:34:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:34:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:34:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:34:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:34:41 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:34:41 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:34:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:34:41 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 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001431m	[env.py: 870]
+05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:34:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.28166713  0.91512529 -0.00143087] yaw=-134.7deg	[env.py: 1019]
+05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.08694709  0.98958386 -0.00143087] yaw=-143.9deg	[env.py: 1019]
+05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.83503449  0.49553331 -0.00143087] yaw=-179.2deg	[env.py: 1019]
+05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:34:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.3ms, total=159.4ms	[env.py: 1075]
+05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.282, 0.915, -0.001)	[env.py: 1079]
+05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.7 deg	[env.py: 1082]
+05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.716m	[env.py: 1086]
+05/09 01:34:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:34:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:34:41 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 01:34:41 INFO: [Worker 0] Worker 0 house 1 episode 32/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:34:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:34:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:34:41 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:34:41 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:34:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.366s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:34:42 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.361[m] 84.443[deg]	[grasp_sample.py: 539]
+05/09 01:34:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:34:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:34:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:34:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:34:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:34:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:35:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:35:13 INFO: [Worker 0] Worker 0 house 1 episode 31 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:35:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:35:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:35:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:35:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:35:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:35:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:35:31 INFO: [Worker 0] Saved videos eagerly for episode 46 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:35:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 01:35:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:35:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:35:34 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 01:35:34 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.37s:
+  episode_total: mean=165.64s, total=165.64s, count=1, min=165635.5ms, max=165635.5ms
+  sensor_polling: mean=417.0ms, total=125.09s, count=300, min=376.8ms, max=664.8ms
+  physics_step: mean=19.0ms, total=5.71s, count=300, min=13.6ms, max=30.6ms
+  save_batch_prep: mean=3.51s, total=3.51s, count=1, min=3511.2ms, max=3511.2ms
+  task_sampling: mean=370.3ms, total=370.3ms, count=1, min=370.3ms, max=370.3ms
+  task_specific_sample: mean=367.1ms, total=367.1ms, count=1, min=367.1ms, max=367.1ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=361.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:35:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:35:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:35:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:35:36 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:35:36 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 01:35:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:35:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000945m	[env.py: 870]
+05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:35:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13189940e+00  7.00636504e-01  9.44887066e-04] yaw=-162.4deg	[env.py: 1019]
+05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-9.47858426e-01  7.81759331e-01  9.44887066e-04] yaw=-168.3deg	[env.py: 1019]
+05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.22461240e+00  1.08387260e+00  9.44887066e-04] yaw=-142.6deg	[env.py: 1019]
+05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:35:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.5ms, total=174.5ms	[env.py: 1075]
+05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.132, 0.701, 0.001)	[env.py: 1079]
+05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.4 deg	[env.py: 1082]
+05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.727m	[env.py: 1086]
+05/09 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:35:37 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 01:35:37 INFO: [Worker 0] Worker 0 house 1 episode 32/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:35:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:35:37 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 01:35:37 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:35:37 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:35:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.381s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:35:37 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.422[m] 95.709[deg]	[grasp_sample.py: 539]
+05/09 01:35:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:35:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:35:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:35:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:35:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:36:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:36:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:36:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:36:44 INFO: [Worker 0] Worker 0 house 1 episode 32 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:36:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:36:53 INFO: [Worker 0] Worker 0 house 1 episode 32 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:36:55 INFO: [Worker 0] Worker 0 house 1 episode 34 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:37:00 INFO: [Worker 0] Saved videos eagerly for episode 48 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:37:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 01:37:00 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
+05/09 01:37:04 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 01:37:04 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.41s:
+  episode_total: mean=143.15s, total=143.15s, count=1, min=143151.9ms, max=143151.9ms
+  sensor_polling: mean=427.6ms, total=115.03s, count=269, min=406.0ms, max=669.4ms
+  physics_step: mean=19.3ms, total=5.19s, count=269, min=13.7ms, max=30.4ms
+  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3641.3ms, max=3641.3ms
+  task_sampling: mean=409.1ms, total=409.1ms, count=1, min=409.1ms, max=409.1ms
+  task_specific_sample: mean=405.5ms, total=405.5ms, count=1, min=405.5ms, max=405.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=375.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:37:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:37:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:37:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:37:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:37:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:37:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:37:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:37:06 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:37:06 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 01:37:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:37:06 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 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001949m	[env.py: 870]
+05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:37:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.1513657   1.09073963 -0.00194938] yaw=-138.4deg	[env.py: 1019]
+05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0885529   1.08628214 -0.00194938] yaw=-131.9deg	[env.py: 1019]
+05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:37:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=167.9ms, total=167.9ms	[env.py: 1075]
+05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.151, 1.091, -0.002)	[env.py: 1079]
+05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.4 deg	[env.py: 1082]
+05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/09 01:37:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:37:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:37:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:37:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:37:06 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
+05/09 01:37:06 INFO: [Worker 0] Worker 0 house 1 episode 33/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:37:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:37:06 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 01:37:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:37:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.084s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:37:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.500s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:37:07 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.584[m] 90.170[deg]	[grasp_sample.py: 539]
+05/09 01:37:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:37:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:37:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:37:11 INFO: [Worker 0] Saved videos eagerly for episode 46 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:37:11 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 01:37:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:37:14 INFO: [Worker 0] Saved videos eagerly for episode 47 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:37:14 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 01:37:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:37:15 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/09 01:37:15 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.40s:
+  episode_total: mean=163.11s, total=163.11s, count=1, min=163109.6ms, max=163109.6ms
+  sensor_polling: mean=428.9ms, total=128.66s, count=300, min=405.7ms, max=773.9ms
+  physics_step: mean=21.0ms, total=6.31s, count=300, min=13.4ms, max=31.4ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3886.8ms, max=3886.8ms
+  task_sampling: mean=395.7ms, total=395.7ms, count=1, min=395.7ms, max=395.7ms
+  task_specific_sample: mean=392.2ms, total=392.2ms, count=1, min=392.2ms, max=392.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=381.0us, 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 01:37:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:37:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:37:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:37:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:37:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:37:17 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:37:17 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:37:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:37:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015246m	[env.py: 870]
+05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:37:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07290837  0.05443653 -0.01524635] yaw=148.1deg	[env.py: 1019]
+05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95713244  0.69044965 -0.01524635] yaw=-171.0deg	[env.py: 1019]
+05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.17743395  1.02205548 -0.01524635] yaw=-143.5deg	[env.py: 1019]
+05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:37:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.2ms, total=91.2ms	[env.py: 1075]
+05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.073, 0.054, -0.015)	[env.py: 1079]
+05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.1 deg	[env.py: 1082]
+05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/09 01:37:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:37:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:37:17 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 01:37:17 INFO: [Worker 0] Worker 0 house 1 episode 33/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:37:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:37:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:37:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:37:17 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:37:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.418s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:37:18 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.457[m] 86.002[deg]	[grasp_sample.py: 539]
+05/09 01:37:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:37:18 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/09 01:37:18 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.36s:
+  episode_total: mean=161.15s, total=161.15s, count=1, min=161151.9ms, max=161151.9ms
+  sensor_polling: mean=422.7ms, total=126.81s, count=300, min=389.6ms, max=778.8ms
+  physics_step: mean=19.5ms, total=5.84s, count=300, min=13.5ms, max=28.0ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4007.2ms, max=4007.2ms
+  task_sampling: mean=358.9ms, total=358.9ms, count=1, min=358.9ms, max=358.9ms
+  task_specific_sample: mean=355.3ms, total=355.3ms, count=1, min=355.3ms, max=355.3ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=363.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:37:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:37:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:37:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:37:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:37:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:37:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:37:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:37:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:37:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:37:20 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:37:20 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 01:37:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:37:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.027m, effective arm-mount z=0.833m (base_body_z=-0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026812m	[env.py: 870]
+05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:37:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91549266  0.19673157 -0.0268117 ] yaw=169.1deg	[env.py: 1019]
+05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.34375585  0.96432798 -0.0268117 ] yaw=-133.6deg	[env.py: 1019]
+05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:37:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=171.3ms, total=171.3ms	[env.py: 1075]
+05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.915, 0.197, -0.027)	[env.py: 1079]
+05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.1 deg	[env.py: 1082]
+05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
+05/09 01:37:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:37:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:37:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:37:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:37:20 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
+05/09 01:37:20 INFO: [Worker 0] Worker 0 house 1 episode 35/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:37:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:37:20 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 01:37:20 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:37:20 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:37:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.759s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:37:21 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.583[m] 90.672[deg]	[grasp_sample.py: 539]
+05/09 01:37:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:37:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:37:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:37:44 INFO: [Worker 0] Worker 0 house 1 episode 32 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:37:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:37:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:38:01 INFO: [Worker 0] Saved videos eagerly for episode 47 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:38:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 01:38:01 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/09 01:38:05 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 01:38:05 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.46s:
+  episode_total: mean=148.79s, total=148.79s, count=1, min=148786.5ms, max=148786.5ms
+  sensor_polling: mean=421.5ms, total=118.87s, count=282, min=381.1ms, max=613.8ms
+  physics_step: mean=19.5ms, total=5.49s, count=282, min=13.6ms, max=27.9ms
+  save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3531.4ms, max=3531.4ms
+  task_sampling: mean=459.9ms, total=459.9ms, count=1, min=459.9ms, max=459.9ms
+  task_specific_sample: mean=456.3ms, total=456.3ms, count=1, min=456.3ms, max=456.3ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=412.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:38:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:38:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:38:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:38:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:38:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:38:07 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:38:07 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 01:38:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:38:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049564m	[env.py: 870]
+05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:38:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03588667  0.59808851  0.04956366] yaw=-171.9deg	[env.py: 1019]
+05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0313047   0.07193354  0.04956366] yaw=147.4deg	[env.py: 1019]
+05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:38:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.6ms, total=207.7ms	[env.py: 1075]
+05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.036, 0.598, 0.050)	[env.py: 1079]
+05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.9 deg	[env.py: 1082]
+05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.788m	[env.py: 1086]
+05/09 01:38:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:38:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:38:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:38:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:38:07 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 01:38:07 INFO: [Worker 0] Worker 0 house 1 episode 33/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:38:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:38:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:38:07 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:38:07 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:38:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.406s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:38:08 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.443[m] 96.513[deg]	[grasp_sample.py: 539]
+05/09 01:38:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:38:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:38:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:38:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:38:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:38:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:38:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:38:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:38:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:38:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:39:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:39:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:39:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:39:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:39:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:39:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:39:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:39:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/09 01:39:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/09 01:39:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/09 01:39:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:39:26 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:39:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.067s, found 330 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:39:27 INFO: [Worker 0] Worker 0 house 1 episode 33 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:39:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.506s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:39:27 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.051[m] 4.436[deg]	[grasp_sample.py: 539]
+05/09 01:39:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:39:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:39:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:39:30 INFO: [Worker 0] Worker 0 house 1 episode 33 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:39:36 INFO: [Worker 0] Worker 0 house 1 episode 35 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:39:44 INFO: [Worker 0] Saved videos eagerly for episode 47 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:39:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 01:39:44 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/09 01:39:48 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 01:39:48 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.35s:
+  episode_total: mean=151.59s, total=151.59s, count=1, min=151588.1ms, max=151588.1ms
+  sensor_polling: mean=422.6ms, total=121.29s, count=287, min=402.8ms, max=738.1ms
+  physics_step: mean=18.5ms, total=5.30s, count=287, min=13.4ms, max=25.9ms
+  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3957.0ms, max=3957.0ms
+  task_sampling: mean=353.9ms, total=353.9ms, count=1, min=353.9ms, max=353.9ms
+  task_specific_sample: mean=350.6ms, total=350.6ms, count=1, min=350.6ms, max=350.6ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=370.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.0us, 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 01:39:49 INFO: [Worker 0] Saved videos eagerly for episode 49 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:39:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 01:39:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:39:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:39:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:39:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:39:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:39:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:39:50 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:39:50 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:39:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:39:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001944m	[env.py: 870]
+05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:39:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08905785  0.31846323  0.00194353] yaw=175.2deg	[env.py: 1019]
+05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13200008  1.13312117  0.00194353] yaw=-131.8deg	[env.py: 1019]
+05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15184326  0.14864582  0.00194353] yaw=159.9deg	[env.py: 1019]
+05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:39:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.5ms, total=76.5ms	[env.py: 1075]
+05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.089, 0.318, 0.002)	[env.py: 1079]
+05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.2 deg	[env.py: 1082]
+05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.723m	[env.py: 1086]
+05/09 01:39:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:39:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:39:50 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 01:39:50 INFO: [Worker 0] Worker 0 house 1 episode 34/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:39:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:39:50 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 01:39:50 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:39:50 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:39:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.416s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:39:51 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.416[m] 94.773[deg]	[grasp_sample.py: 539]
+05/09 01:39:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:39:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:39:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:39:53 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/09 01:39:53 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.44s:
+  episode_total: mean=167.33s, total=167.33s, count=1, min=167326.5ms, max=167326.5ms
+  sensor_polling: mean=422.0ms, total=126.60s, count=300, min=387.6ms, max=790.8ms
+  physics_step: mean=19.3ms, total=5.78s, count=300, min=13.8ms, max=29.9ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4023.2ms, max=4023.2ms
+  task_sampling: mean=440.0ms, total=440.0ms, count=1, min=440.0ms, max=440.0ms
+  task_specific_sample: mean=436.5ms, total=436.5ms, count=1, min=436.5ms, max=436.5ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=370.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 01:39:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:39:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:39:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:39:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:39:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:39:54 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:39:54 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:39:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:39:54 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 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008744m	[env.py: 870]
+05/09 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:39:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03296663  0.14379029  0.00874432] yaw=162.8deg	[env.py: 1019]
+05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0644844   0.13617148  0.00874432] yaw=159.7deg	[env.py: 1019]
+05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97923445  0.19195442  0.00874432] yaw=169.0deg	[env.py: 1019]
+05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:39:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.1ms, total=202.2ms	[env.py: 1075]
+05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.033, 0.144, 0.009)	[env.py: 1079]
+05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.8 deg	[env.py: 1082]
+05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
+05/09 01:39:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:39:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:39:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:39:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:39:55 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
+05/09 01:39:55 INFO: [Worker 0] Worker 0 house 1 episode 34/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:39:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:39:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:39:55 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:39:55 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:39:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.406s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:39:55 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.503[m] 93.649[deg]	[grasp_sample.py: 539]
+05/09 01:39:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:39:56 INFO: [Worker 0] Saved videos eagerly for episode 48 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:39:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 01:39:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:39:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:39:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:39:59 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/09 01:39:59 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.42s:
+  episode_total: mean=159.76s, total=159.76s, count=1, min=159761.7ms, max=159761.7ms
+  sensor_polling: mean=422.8ms, total=126.84s, count=300, min=394.0ms, max=705.0ms
+  physics_step: mean=18.9ms, total=5.68s, count=300, min=13.9ms, max=30.1ms
+  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3782.1ms, max=3782.1ms
+  task_sampling: mean=420.1ms, total=420.1ms, count=1, min=420.1ms, max=420.1ms
+  task_specific_sample: mean=416.6ms, total=416.6ms, count=1, min=416.6ms, max=416.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=368.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.8us, 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 01:40:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:40:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:40:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:40:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:40:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:40:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:40:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:40:01 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:40:01 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 01:40:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:40:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.022053m	[env.py: 870]
+05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:40:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97938951  0.60379342 -0.02205298] yaw=-174.0deg	[env.py: 1019]
+05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05295891  0.12427423 -0.02205298] yaw=147.2deg	[env.py: 1019]
+05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.16412557  0.92102921 -0.02205298] yaw=-152.9deg	[env.py: 1019]
+05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:40:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.8ms, total=213.8ms	[env.py: 1075]
+05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.979, 0.604, -0.022)	[env.py: 1079]
+05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.0 deg	[env.py: 1082]
+05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m	[env.py: 1086]
+05/09 01:40:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:40:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:40:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:40:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:40:01 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 01:40:01 INFO: [Worker 0] Worker 0 house 1 episode 36/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:40:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:40:02 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 01:40:02 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:40:02 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:40:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.449s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:40:02 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.482[m] 90.882[deg]	[grasp_sample.py: 539]
+05/09 01:40:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:40:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:40:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:40:19 INFO: [Worker 0] Worker 0 house 1 episode 33 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:40:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:40:36 INFO: [Worker 0] Saved videos eagerly for episode 48 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:40:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 01:40:36 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/09 01:40:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:40:40 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 01:40:40 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.45s:
+  episode_total: mean=153.29s, total=153.29s, count=1, min=153289.4ms, max=153289.4ms
+  sensor_polling: mean=429.4ms, total=122.80s, count=286, min=381.4ms, max=635.6ms
+  physics_step: mean=20.3ms, total=5.80s, count=286, min=13.9ms, max=31.4ms
+  save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3318.4ms, max=3318.4ms
+  task_sampling: mean=447.1ms, total=447.1ms, count=1, min=447.1ms, max=447.1ms
+  task_specific_sample: mean=443.6ms, total=443.6ms, count=1, min=443.6ms, max=443.6ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=364.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:40:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:40:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:40:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:40:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:40:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:40:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:40:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:40:41 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:40:41 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:40:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:40:41 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 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002845m	[env.py: 870]
+05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:40:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98412715  0.0052978  -0.0028445 ] yaw=148.0deg	[env.py: 1019]
+05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04331703  0.9821317  -0.0028445 ] yaw=-140.8deg	[env.py: 1019]
+05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.823884    0.31423076 -0.0028445 ] yaw=163.6deg	[env.py: 1019]
+05/09 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:40:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.9ms, total=209.9ms	[env.py: 1075]
+05/09 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.984, 0.005, -0.003)	[env.py: 1079]
+05/09 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.0 deg	[env.py: 1082]
+05/09 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
+05/09 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:40:42 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
+05/09 01:40:42 INFO: [Worker 0] Worker 0 house 1 episode 34/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:40:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:40:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:40:42 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:40:42 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:40:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:40:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:40:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.119s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:40:43 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.544[m] 88.655[deg]	[grasp_sample.py: 539]
+05/09 01:40:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:40:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:40:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:40:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:40:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:40:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:40:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:40:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:41:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:41:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:41:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:42:07 INFO: [Worker 0] Worker 0 house 1 episode 34 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:42:12 INFO: [Worker 0] Worker 0 house 1 episode 34 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:42:15 INFO: [Worker 0] Worker 0 house 1 episode 36 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:42:24 INFO: [Worker 0] Saved videos eagerly for episode 48 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:42:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/09 01:42:24 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/09 01:42:28 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 01:42:28 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.36s:
+  episode_total: mean=158.29s, total=158.29s, count=1, min=158285.1ms, max=158285.1ms
+  sensor_polling: mean=430.8ms, total=121.48s, count=282, min=405.7ms, max=772.1ms
+  physics_step: mean=21.6ms, total=6.08s, count=282, min=13.3ms, max=37.5ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3883.2ms, max=3883.2ms
+  task_sampling: mean=362.6ms, total=362.6ms, count=1, min=362.6ms, max=362.6ms
+  task_specific_sample: mean=359.2ms, total=359.2ms, count=1, min=359.2ms, max=359.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=369.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:42:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:42:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:42:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:42:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:42:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:42:30 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:42:30 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:42:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:42:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012146m	[env.py: 870]
+05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:42:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.28162756  1.0528551   0.01214628] yaw=-120.3deg	[env.py: 1019]
+05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90983678 -0.01778759  0.01214628] yaw=145.7deg	[env.py: 1019]
+05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.1125709   1.08641028  0.01214628] yaw=-125.0deg	[env.py: 1019]
+05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:42:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.0ms, total=110.0ms	[env.py: 1075]
+05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.282, 1.053, 0.012)	[env.py: 1079]
+05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -120.3 deg	[env.py: 1082]
+05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/09 01:42:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:42:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:42:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/09 01:42:30 INFO: [Worker 0] Worker 0 house 1 episode 35/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:42:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:42:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:42:30 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:42:30 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:42:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.423s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:42:31 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.427[m] 85.024[deg]	[grasp_sample.py: 539]
+05/09 01:42:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:42:31 INFO: [Worker 0] Saved videos eagerly for episode 50 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:42:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/09 01:42:31 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
+05/09 01:42:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:42:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:42:35 INFO: [Worker 0] Saved videos eagerly for episode 49 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:42:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/09 01:42:35 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/09 01:42:35 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/09 01:42:35 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.47s:
+  episode_total: mean=160.28s, total=160.28s, count=1, min=160282.5ms, max=160282.5ms
+  sensor_polling: mean=432.5ms, total=128.88s, count=298, min=408.4ms, max=666.8ms
+  physics_step: mean=19.4ms, total=5.78s, count=298, min=13.5ms, max=30.4ms
+  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3782.1ms, max=3782.1ms
+  task_sampling: mean=471.5ms, total=471.5ms, count=1, min=471.5ms, max=471.5ms
+  task_specific_sample: mean=467.9ms, total=467.9ms, count=1, min=467.9ms, max=467.9ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=379.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.6us, 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 01:42:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:42:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:42:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:42:36 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:42:36 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 01:42:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:42:36 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 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009722m	[env.py: 870]
+05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:42:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9524334   0.26140643 -0.0097223 ] yaw=175.3deg	[env.py: 1019]
+05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.09655838  1.12994042 -0.0097223 ] yaw=-146.5deg	[env.py: 1019]
+05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.08605722  0.71131797 -0.0097223 ] yaw=-164.0deg	[env.py: 1019]
+05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:42:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.7ms, total=154.7ms	[env.py: 1075]
+05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.952, 0.261, -0.010)	[env.py: 1079]
+05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.3 deg	[env.py: 1082]
+05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/09 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:42:37 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
+05/09 01:42:37 INFO: [Worker 0] Worker 0 house 1 episode 35/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:42:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:42:37 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 01:42:37 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:42:37 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:42:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.384s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:42:37 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.491[m] 85.990[deg]	[grasp_sample.py: 539]
+05/09 01:42:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:42:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:42:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:42:38 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/09 01:42:39 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.46s:
+  episode_total: mean=157.50s, total=157.50s, count=1, min=157496.6ms, max=157496.6ms
+  sensor_polling: mean=424.9ms, total=124.91s, count=294, min=390.8ms, max=782.3ms
+  physics_step: mean=20.0ms, total=5.88s, count=294, min=13.6ms, max=30.7ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3852.5ms, max=3852.5ms
+  task_sampling: mean=463.1ms, total=463.1ms, count=1, min=463.1ms, max=463.1ms
+  task_specific_sample: mean=459.7ms, total=459.7ms, count=1, min=459.7ms, max=459.7ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=365.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=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 01:42:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:42:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:42:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:42:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:42:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:42:40 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:42:40 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:42:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:42:40 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 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026674m	[env.py: 870]
+05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:42:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04851507  1.02793939  0.02667431] yaw=-136.9deg	[env.py: 1019]
+05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.16042748  1.05136452  0.02667431] yaw=-145.7deg	[env.py: 1019]
+05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:42:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.9ms, total=214.9ms	[env.py: 1075]
+05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.049, 1.028, 0.027)	[env.py: 1079]
+05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.9 deg	[env.py: 1082]
+05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m	[env.py: 1086]
+05/09 01:42:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:42:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:42:41 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
+05/09 01:42:41 INFO: [Worker 0] Worker 0 house 1 episode 37/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:42:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:42:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:42:41 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:42:41 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:42:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.439s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:42:42 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.595[m] 86.040[deg]	[grasp_sample.py: 539]
+05/09 01:42:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:42:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:42:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:42:59 INFO: [Worker 0] Worker 0 house 1 episode 34 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/09 01:43:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:43:16 INFO: [Worker 0] Saved videos eagerly for episode 49 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
+05/09 01:43:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/09 01:43:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/09 01:43:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:43:20 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 01:43:20 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.45s:
+  episode_total: mean=158.60s, total=158.60s, count=1, min=158604.7ms, max=158604.7ms
+  sensor_polling: mean=424.5ms, total=127.35s, count=300, min=383.3ms, max=667.1ms
+  physics_step: mean=19.4ms, total=5.81s, count=300, min=13.6ms, max=31.6ms
+  save_batch_prep: mean=3.47s, total=3.47s, count=1, min=3465.3ms, max=3465.3ms
+  task_sampling: mean=451.4ms, total=451.4ms, count=1, min=451.4ms, max=451.4ms
+  task_specific_sample: mean=448.2ms, total=448.2ms, count=1, min=448.2ms, max=448.2ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=372.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/09 01:43:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:43:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/09 01:43:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/09 01:43:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/09 01:43:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:43:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:43:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:43:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:43:22 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
+05/09 01:43:22 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
+05/09 01:43:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
+05/09 01:43:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
+05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041229m	[env.py: 870]
+05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
+05/09 01:43:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
+05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05987797  0.12422825  0.0412294 ] yaw=155.0deg	[env.py: 1019]
+05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17407448  1.10564812  0.0412294 ] yaw=-132.1deg	[env.py: 1019]
+05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/09 01:43:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94438727  0.31750955  0.0412294 ] yaw=182.3deg	[env.py: 1019]
+05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/09 01:43:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=75.6ms, total=75.7ms	[env.py: 1075]
+05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.060, 0.124, 0.041)	[env.py: 1079]
+05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.0 deg	[env.py: 1082]
+05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/09 01:43:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/09 01:43:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/09 01:43:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/09 01:43:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/09 01:43:22 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
+05/09 01:43:22 INFO: [Worker 0] Worker 0 house 1 episode 35/60 collected=0/10	[pipeline.py: 1044]
+05/09 01:43:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/09 01:43:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/09 01:43:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/09 01:43:22 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
+05/09 01:43:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.448s, found feasible grasp: True	[grasp_sample.py: 500]
+05/09 01:43:22 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.472[m] 97.374[deg]	[grasp_sample.py: 539]
+05/09 01:43:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/09 01:43:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/09 01:43:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:43:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:43:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:43:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/09 01:43:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/09 01:43:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
diff --git a/fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5 b/fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5
index 43fc3f2bca9a280685e8ae8e9ade8ad47d0b294e..c4afa384e8b67acf916d85548c407685816fa8bd 100644
--- a/fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5
+++ b/fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cb062f173d3b54d10ce604ca71fbf5ef12cbcdad310aebd3407b3a52f0316ce0
-size 3042921358
+oid sha256:c0f81c493e29ad5cc178b6a381b36190771d46c82a7fc434515d22e8cce8e0ee
+size 3637312351
diff --git a/fridge1_minimal_wall/trajectories_batch_2_of_4_cam_rand.h5 b/fridge1_minimal_wall/trajectories_batch_2_of_4_cam_rand.h5
index 9e92facb5f5daf4d14a61c18050987f6ff883c47..68e8270b65d997a540c37588b4f65351779f9d29 100644
--- a/fridge1_minimal_wall/trajectories_batch_2_of_4_cam_rand.h5
+++ b/fridge1_minimal_wall/trajectories_batch_2_of_4_cam_rand.h5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dad7ea245635efd2477246ad58dbf100d01c28de104059c47b3faa80f3e2a4c9
-size 2827904892
+oid sha256:3f03cf249447bf7756648a207d987fded3e0028325e80dcb3f8a04e5aa6b2c0a
+size 3488719190
diff --git a/fridge1_minimal_wall/trajectories_batch_3_of_4_cam_rand.h5 b/fridge1_minimal_wall/trajectories_batch_3_of_4_cam_rand.h5
index eff6dd61c1ab1e52b7bbbbb9746fd7ea1040cb26..a15b8359b33a5450930d104bac1afdd2e4044541 100644
--- a/fridge1_minimal_wall/trajectories_batch_3_of_4_cam_rand.h5
+++ b/fridge1_minimal_wall/trajectories_batch_3_of_4_cam_rand.h5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:47abf61cd793bf70d3db3dd7145dee7ca1f94efdc6cbf24cf7abb8db8d9f124d
-size 3064575066
+oid sha256:63c13dfae80fcdc37cc5c976fc17aa644a815e66d29c8e9b248689dd16a25aaa
+size 3730572932
diff --git a/fridge1_minimal_wall/trajectories_batch_4_of_4_cam_rand.h5 b/fridge1_minimal_wall/trajectories_batch_4_of_4_cam_rand.h5
index 646f2b2959127cd5ef83073a97d28beab063f788..088117d940fea1b1173a6722a57a39e17aa795af 100644
--- a/fridge1_minimal_wall/trajectories_batch_4_of_4_cam_rand.h5
+++ b/fridge1_minimal_wall/trajectories_batch_4_of_4_cam_rand.h5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dd70e2600d055409476b2051b21c10c99837515f09c597c13392caf147920721
-size 3135056173
+oid sha256:7705c771e997ad62209250323d7d8573b268c9efb8cfdb888099f9decdd3c8ed
+size 3741024802