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@@ -0,0 +1,1477 @@
+[2026-05-26 01:03:53,028] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath']
+[2026-05-26 01:03:53,101] INFO Selected MuJoCo backend: egl
+[2026-05-26 01:03:53,119] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 (source=arg)
+[2026-05-26 01:03:56,050] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /home/yuanpei/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+[2026-05-26 01:04:07,335] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using:
+  symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets
+  cache_dir=/home/yuanpei/.cache/molmo-spaces-resources
+  force_install=True
+/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+[2026-05-26 01:04:32,495] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini']
+[2026-05-26 01:04:32,499] INFO Using save_video_sensors=['__none__']
+[2026-05-26 01:04:37,293] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position
+[2026-05-26 01:04:37,349] INFO Using explicit task_horizon override: 450 steps
+[05/26 01:04:37 INFO pipeline.py:677] WandB logging disabled (environment variables not set)
+[2026-05-26 01:04:37,427] INFO JsonEvalRunner initialized: 37 houses, 42 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 01:04:37 INFO pipeline.py:1279] Starting house-by-house rollout of 37 houses with 2 episodes each (74 total episodes) using 1 worker processes
+[05/26 01:04:37 INFO pipeline.py:1286] Evaluation configuration:
+[05/26 01:04:37 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00'),
+ 'camera_config': None,
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'val',
+ 'datagen_profiler': False,
+ 'end_on_success': True,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': False,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437'),
+ 'policy_config': {'action_chunk_size': 8,
+                   'action_move_group_names': ['arm', 'gripper'],
+                   'action_spec': {'arm': 7, 'gripper': 1},
+                   'action_type': 'joint_pos_rel',
+                   'allow_create_prompt_embedding': True,
+                   'camera_names': ['droid_shoulder_light_randomization',
+                                    'wrist_camera_zed_mini'],
+                   'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt',
+                   'device': 'cuda:0',
+                   'name': 'wan_molmobot_franka',
+                   'obs_camera_name': 'droid_shoulder_light_randomization',
+                   'obs_image_key': 'rgb_head',
+                   'obs_state_key': 'robot_state',
+                   'obs_wrist_camera_name': 'wrist_camera_zed_mini',
+                   'obs_wrist_image_key': 'rgb_wrist',
+                   'policy_cls': <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'>,
+                   'policy_type': 'learned',
+                   'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan',
+                   't5_tokenizer_path': 'google/umt5-xxl',
+                   'task_description_fallback': 'manipulate the target object',
+                   'text_context_key': 'text_context',
+                   'text_embedding_device': 'cpu',
+                   'text_embedding_dtype': 'bf16',
+                   'text_embedding_text_len': 512,
+                   'use_ema': False,
+                   'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'},
+ 'policy_dt_ms': 66.0,
+ 'profile': False,
+ 'profiler': None,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': False,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'base_size': [0.5, 0.5, 0.58],
+                  'command_mode': {'arm': 'joint_rel_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'perturb_texture_probability': 0.7,
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'scene_dataset': 'procthor-10k',
+ 'seed': 42,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'object_poses': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'task_cls': None,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 450,
+ 'task_sampler_config': {'check_robot_placement_visibility': True,
+                         'enable_texture_randomization': False,
+                         'house_inds': [3871,
+                                        3898,
+                                        3945,
+                                        3990,
+                                        4017,
+                                        4068,
+                                        4133,
+                                        4205,
+                                        4270,
+                                        4295,
+                                        4346,
+                                        4374,
+                                        4411,
+                                        4484,
+                                        4540,
+                                        4584,
+                                        4641,
+                                        4698,
+                                        4707,
+                                        4738,
+                                        4765,
+                                        4803,
+                                        4857,
+                                        4916,
+                                        4982,
+                                        5004,
+                                        5020,
+                                        5115,
+                                        5164,
+                                        5218,
+                                        5287,
+                                        5359,
+                                        5389,
+                                        5424,
+                                        5465,
+                                        5491,
+                                        5537],
+                         'load_robot_from_file': True,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 10,
+                         'max_allowed_sequential_task_sampler_failures': 10,
+                         'max_asset_failures': 10,
+                         'max_tasks': 10000,
+                         'max_total_attempts_multiplier': 6,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'robot_placement_exclusion_threshold': 0.15,
+                         'robot_placement_rotation_range_rad': 0.7853981633974483,
+                         'samples_per_house': 2,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.task_sampler.BaseMujocoTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'pick',
+ 'terminate_upon_success': False,
+ 'use_filament': True,
+ 'use_passive_viewer': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'wandb_name': None,
+ 'wandb_project': 'mlspaces-benchmark-eval'}
+[2026-05-26 01:04:37,456] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437
+[05/26 01:04:37 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler
+[05/26 01:04:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/26 01:04:37 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler
+[05/26 01:04:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3871 (index 0/37)
+[05/26 01:04:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3871 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 01:04:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes
+
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+
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+[05/26 01:04:45 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/50be4f8b8f744730878916aa38b0f08f
+[05/26 01:04:45 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_14
+[05/26 01:04:45 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/b88a0160da29481fb7866fda93457fe3
+[05/26 01:04:45 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+WARNING:2026-05-26 01:04:56,230:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu.
+[2026-05-26 01:04:56,230] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu.
+[05/26 01:04:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3871_ceiling.xml
+[05/26 01:04:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3871, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:04:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:04:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects
+[05/26 01:04:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:04:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:04:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:04:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:04:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:04:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the stockfish and place it in or on the brown wooden leaf tray'
+[05/26 01:04:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 3871 episode 0/2 collected=0/2
+[05/26 01:04:58 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:04:59 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_5 in scene
+[05/26 01:04:59 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene
+2026-05-26 01:06:03.158 | INFO     | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0
+[2026-05-26 01:06:37,059] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k)
+[2026-05-26 01:06:46,970] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors.
+[2026-05-26 01:08:54,462] INFO Number of parameters in DiT: 1.821428e+07
+[2026-05-26 01:09:06,519] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8
+[2026-05-26 01:09:06,530] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8
+[05/26 01:13:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 3871 episode 0 object objadriedfish_00fbc8e52f834ba78b25ffb6962b98e8_1_0_8 completed with success=False
+[05/26 01:14:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'proct[05/26 01:14:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objath
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+
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+[05/26 01:16:08 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/50be4f8b8f744730878916aa38b0f08f
+[05/26 01:16:08 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_14
+[05/26 01:16:08 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_rec[05/26 01:16:08 Worker 0 [05/26 01:16:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3871_ceiling.xml
+[05/26 01:16:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3871, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:16:14 [1;37[05/26 01:16:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3871_ceiling.xml
+[05/26 01:16:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3871, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:16:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:16:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects
+[05/26 01:16:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:16:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:16:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:16:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:16:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:16:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the compact green radio and place it in or on the gray bowl'
+[05/26 01:16:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 3871 episode 1/2 collected=1/2
+[05/26 01:16:15 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.mol[05/26 01:20:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 01:24:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 3871 episode 1 object objaemergencyradio_875d6d844ced424bb9eaa5659ef888ac_1_0_9 completed with success=False
+[05/26 01:24:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3871: 2 episodes
+[05/26 01:24:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:24:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:24:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:24:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:24:47 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3871
+[05/26 01:24:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3871 in 4.97s (batch: 4.80s, save: 0.18s)
+[05/26 01:24:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3871
+[05/26 01:24:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3871: 0/2 successful episodes
+[05/26 01:24:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3898 (index 1/37)
+[05/26 01:24:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3898 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 01:24:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 01:31:47 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/dc75becfc0104a358ad1354b65d19475
+[05/26 01:31:47 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/c7df0f7671d34fb9817d37067072f9ab
+[05/26 01:31:47 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/e9670b35612840bd92354dd8936d3c6a
+[05/26 01:31:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3898_ceiling.xml
+[05/26 01:31:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3898, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:31:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:31:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects
+[05/26 01:31:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:31:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:31:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:31:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:31:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:31:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal hex screw and place it in or on the shallow round bowl with feet'
+[05/26 01:31:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 3898 episode 0/1 collected=0/2
+[05/26 01:31:51 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:31:51 Worker 0 WARNING object_manager.py:1238] Could not find object objapliers_de2e9e84e52844a0ab522e5e98202453_1_0_2 in scene
+[05/26 01:31:51 Worker 0 WARNING object_manager.py:1238] Could not find object objabakedgood_454783f25d8c46ac87969c8f161b1a16_1_0_2 in scene
+[2026-05-26 01:33:00,575] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+[05/26 01:33:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 01:38:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 3898 episode 0 object objascrew_477a7178be2b4f709bb4fe2d724f47cf_1_0_2 completed with success=False
+[05/26 01:39:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3898: 1 episodes
+[05/26 01:39:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:39:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:39:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3898
+[05/26 01:39:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3898 in 3.27s (batch: 3.11s, save: 0.16s)
+[05/26 01:39:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3898
+[05/26 01:39:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3898: 0/1 successful episodes
+[05/26 01:39:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3945 (index 2/37)
+[05/26 01:39:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3945 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 01:39:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+
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+
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+[05/26 01:41:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/cfe3c9eed1554f59ad7756e27d97c667
+[05/26 01:41:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/bcf3a4e49ee14eeda2faca7c7455161d
+[05/26 01:41:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/ce448005340241c8acd2034b72cd09f8
+[05/26 01:41:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3945_ceiling.xml
+[05/26 01:41:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3945, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:41:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:41:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects
+[05/26 01:41:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:41:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:41:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:41:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:41:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:41:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the circular gold ornate openwork ornament and place it in or on the teal box with heart'
+[05/26 01:41:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 3945 episode 0/1 collected=0/2
+[05/26 01:41:27 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 01:42:54,815] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 01:43:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 01:46:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 3945 episode 0 object objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_3 completed with success=False
+[05/26 01:46:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3945: 1 episodes
+[05/26 01:46:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:46:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:46:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3945
+[05/26 01:46:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3945 in 2.52s (batch: 2.43s, save: 0.09s)
+[05/26 01:46:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3945
+[05/26 01:46:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3945: 0/1 successful episodes
+[05/26 01:46:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3990 (index 3/37)
+[05/26 01:46:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3990 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 01:46:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 01:53:21 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/0500b0d9ef6f40dd96591d7b354c9ede
+[05/26 01:53:21 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/2df58d08f5604c058d43e00677d325b6
+[05/26 01:53:21 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/472cceee5a224ff6933e7baf31d16641
+[05/26 01:53:21 Worker 0 INFO scene_maps.py:66] Deleted 1 blacklisted bodies from scene
+[05/26 01:53:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3990_ceiling.xml
+[05/26 01:53:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3990, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:53:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:53:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 61 objects
+[05/26 01:53:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:53:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:53:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:53:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:53:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:53:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the instrumentation and place it in or on the rusty metal tray with meat'
+[05/26 01:53:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 3990 episode 0/1 collected=0/2
+[05/26 01:53:24 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:53:24 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene
+[2026-05-26 01:54:26,314] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 01:54:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 01:57:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 3990 episode 0 object objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_1_0_4 completed with success=False
+[05/26 01:57:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3990: 1 episodes
+[05/26 01:57:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:57:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:57:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3990
+[05/26 01:57:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3990 in 3.29s (batch: 3.10s, save: 0.20s)
+[05/26 01:57:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3990
+[05/26 01:57:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3990: 0/1 successful episodes
+[05/26 01:57:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4017 (index 4/37)
+[05/26 01:57:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4017 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 01:57:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 01:58:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_26
+[05/26 01:58:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/a6cfd144a62e446c92f0987fb81d584f
+[05/26 01:58:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/a5b29a29005041dca3d8bfbc8c57c7e2
+[05/26 01:58:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4017_ceiling.xml
+[05/26 01:58:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4017, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:58:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:58:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 85 objects
+[05/26 01:58:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:58:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:58:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:58:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:58:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:58:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the beige taco filled with toppings and place it in or on the gray bowl'
+[05/26 01:58:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 4017 episode 0/1 collected=0/2
+[05/26 01:58:33 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:00:24,132] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:01:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 02:06:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4017 episode 0 object objadecorativefoodmodel_9c9d11d317814c2085da004146c4917c_1_0_8 completed with success=False
+[05/26 02:06:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4017: 1 episodes
+[05/26 02:06:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:06:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:06:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4017
+[05/26 02:06:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4017 in 3.39s (batch: 3.25s, save: 0.14s)
+[05/26 02:06:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4017
+[05/26 02:06:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4017: 0/1 successful episodes
+[05/26 02:06:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4068 (index 5/37)
+[05/26 02:06:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4068 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 02:06:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 02:06:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_13
+[05/26 02:06:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/0cb14e8a04de4c39ac8714a98fba9883
+[05/26 02:06:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/2b2f2afe691143b1a0d9c56141b028f9
+[05/26 02:06:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4068_ceiling.xml
+[05/26 02:06:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4068, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:06:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:06:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects
+[05/26 02:06:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:06:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:06:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:06:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:06:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:06:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the curved sleek modern handset and place it in or on the sculptural bowl with earthy texture'
+[05/26 02:06:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 4068 episode 0/1 collected=0/2
+[05/26 02:06:51 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:08:55,106] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:10:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 02:16:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 4068 episode 0 object objatelephonehandset_0ddfdf35baa6475d9ba001a570eaeebd_1_0_7 completed with success=False
+[05/26 02:16:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4068: 1 episodes
+[05/26 02:16:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:16:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:16:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4068
+[05/26 02:16:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4068 in 2.90s (batch: 2.78s, save: 0.12s)
+[05/26 02:16:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4068
+[05/26 02:16:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4068: 0/1 successful episodes
+[05/26 02:16:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4133 (index 6/37)
+[05/26 02:16:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4133 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 02:16:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+[05/26 02:16:45 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_20
+[05/26 02:16:45 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/1e4b75a1bb484c42b99fcd3ddf23ae9f
+[05/26 02:16:45 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/bfae6fa9a7f64b9eb16f57c05553c612
+[05/26 02:16:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4133_ceiling.xml
+[05/26 02:16:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4133, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:16:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:16:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 82 objects
+[05/26 02:16:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:16:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:16:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:16:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:16:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:16:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue birthday card with fox and rabbit and place it in or on the round handmade rustic earthy bowl'
+[05/26 02:16:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 4133 episode 0/1 collected=0/2
+[05/26 02:16:49 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:18:30,741] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:23:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 4133 episode 0 object objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_1_0_7 completed with success=False
+[05/26 02:23:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4133: 1 episodes
+[05/26 02:23:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:23:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:23:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4133
+[05/26 02:23:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4133 in 3.72s (batch: 3.52s, save: 0.20s)
+[05/26 02:23:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4133
+[05/26 02:23:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4133: 0/1 successful episodes
+[05/26 02:23:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4205 (index 7/37)
+[05/26 02:23:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4205 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 02:23:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 02:23:43 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/561e6757555049fca93f56e479f7cbe4
+[05/26 02:23:43 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/03fa6768245446f4bab866db37a6caec
+[05/26 02:23:43 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/c7df0f7671d34fb9817d37067072f9ab
+[05/26 02:23:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4205_ceiling.xml
+[05/26 02:23:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4205, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:23:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:23:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects
+[05/26 02:23:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:23:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:23:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:23:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:23:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:23:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the teacup and place it in or on the ceramic bowl filled with rice and peas'
+[05/26 02:23:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 4205 episode 0/1 collected=0/2
+[05/26 02:23:48 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:26:05,285] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:27:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 02:31:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4205 episode 0 object objateacup_ccc2c0af285d479b8c5961d3c678aefc_1_0_7 completed with success=False
+[05/26 02:31:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4205: 1 episodes
+[05/26 02:31:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:31:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:31:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4205
+[05/26 02:31:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4205 in 3.00s (batch: 2.85s, save: 0.15s)
+[05/26 02:31:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4205
+[05/26 02:31:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4205: 0/1 successful episodes
+[05/26 02:31:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4270 (index 8/37)
+[05/26 02:31:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4270 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 02:31:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 02:31:29 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/55bd2652583048adb5f261974f28b134
+[05/26 02:31:29 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_22
+[05/26 02:31:29 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_29
+[05/26 02:31:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4270_ceiling.xml
+[05/26 02:31:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4270, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:31:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:31:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects
+[05/26 02:31:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:31:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:31:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:31:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:31:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:31:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the olive scalloped ceramic plate and place it in or on the round metallic bowl with patina'
+[05/26 02:31:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 4270 episode 0/1 collected=0/2
+[05/26 02:31:33 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:32:55,064] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:33:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 02:37:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4270 episode 0 object plate_ac19ca22ae10d8179cdc8dc68e02072d_1_0_2 completed with success=False
+[05/26 02:38:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4270: 1 episodes
+[05/26 02:38:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:38:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:38:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4270
+[05/26 02:38:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4270 in 3.64s (batch: 3.42s, save: 0.23s)
+[05/26 02:38:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4270
+[05/26 02:38:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4270: 0/1 successful episodes
+[05/26 02:38:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4295 (index 9/37)
+[05/26 02:38:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4295 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 02:38:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/49 [00:00<?, ?it/s]
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+
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+[05/26 02:38:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/c44ac768e7304df58ebf13ba4c6eed11
+[05/26 02:38:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/39afab89520c460598805c0a6bad291c
+[05/26 02:38:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/c14e37cc7b7448bb9ed3bc33106a52b6
+[05/26 02:38:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4295_ceiling.xml
+[05/26 02:38:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4295, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:38:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:38:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 80 objects
+[05/26 02:38:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:38:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:38:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:38:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:38:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:38:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark gray metal shackle with orange pin and place it in or on the red clay bowl with zigzag pattern'
+[05/26 02:38:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 4295 episode 0/2 collected=0/2
+[05/26 02:38:19 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:40:30,180] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:50:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4295 episode 0 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_2 completed with success=False
+[05/26 02:51:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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Checking grasps/droid_objaverse: 100%|██████████| 24/24 [00:00<00:00, 4045.30it/s]
+[05/26 02:51:07 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/c44ac768e7304df58ebf13ba4c6eed11
+[05/26 02:51:07 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/39afab89520c460598805c0a6bad291c
+[05/26 02:51:07 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/c14e37cc7b7448bb9ed3bc33106a52b6
+[05/26 02:51:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4295_ceiling.xml
+[05/26 02:51:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4295, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:51:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:51:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 80 objects
+[05/26 02:51:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:51:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:51:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:51:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:51:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:51:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the keypad and place it in or on the gray rough textured bowl'
+[05/26 02:51:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 4295 episode 1/2 collected=1/2
+[05/26 02:51:14 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:53:34,891] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:55:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 03:03:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4295 episode 1 object objasecuritykeypad_e3e26581572f467d84958a12d6305aae_1_0_2 completed with success=False
+[05/26 03:03:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4295: 2 episodes
+[05/26 03:03:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:03:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:04:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:04:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:04:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4295
+[05/26 03:04:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4295 in 6.69s (batch: 6.47s, save: 0.22s)
+[05/26 03:04:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4295
+[05/26 03:04:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4295: 0/2 successful episodes
+[05/26 03:04:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4346 (index 10/37)
+[05/26 03:04:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4346 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 03:04:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+[05/26 03:04:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/496bd9f05a714e608a41a24b169937f6
+[05/26 03:04:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/08dd440442874c8e8ae35494b4aff0a2
+[05/26 03:04:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/1e4b75a1bb484c42b99fcd3ddf23ae9f
+[05/26 03:04:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4346_ceiling.xml
+[05/26 03:04:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4346, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:04:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:04:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects
+[05/26 03:04:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:04:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:04:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:04:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:04:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:04:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth cylindrical wooden rod and place it in or on the patchwork ceramic bowl rustic'
+[05/26 03:04:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 4346 episode 0/1 collected=0/2
+[05/26 03:04:17 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:04:17 Worker 0 WARNING object_manager.py:1238] Could not find object objasandal_c337b092178a4931a68336c3e6f49287_1_0_9 in scene
+[05/26 03:04:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_9 in scene
+[05/26 03:04:17 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene
+[2026-05-26 03:06:41,720] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:07:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 03:15:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4346 episode 0 object objawoodenrod_93e71d2e393c4992a3bf47eb1fc7e3f7_1_0_4 completed with success=False
+[05/26 03:15:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4346: 1 episodes
+[05/26 03:15:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:15:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:15:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4346
+[05/26 03:15:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4346 in 3.69s (batch: 3.54s, save: 0.15s)
+[05/26 03:15:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4346
+[05/26 03:15:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4346: 0/1 successful episodes
+[05/26 03:15:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4374 (index 11/37)
+[05/26 03:15:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4374 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 03:15:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/7 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 7/7 [00:00<00:00, 16834.94it/s]
+
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Checking grasps/droid_objaverse: 100%|██████████| 5/5 [00:00<00:00, 4046.99it/s]
+[05/26 03:15:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/675213cdb6eb4b8ab4ca565f2e7f4fc4
+[05/26 03:15:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/1ef337c5cfda4d368ceb154c0e9fae0e
+[05/26 03:15:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/af624cab76c04bec86f0c928207797d8
+[05/26 03:15:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4374_ceiling.xml
+[05/26 03:15:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4374, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:15:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:15:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 14 objects
+[05/26 03:15:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:15:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:15:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:15:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:15:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:15:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the purple candy wrapper with lighthouse design and place it in or on the blue bowl'
+[05/26 03:15:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 4374 episode 0/1 collected=0/2
+[05/26 03:15:23 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:16:59,501] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:17:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 03:21:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 4374 episode 0 object objacandywrapper_4a0fdf73d0474d778fd65ba220f50a71_2_0_2 completed with success=False
+[05/26 03:21:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4374: 1 episodes
+[05/26 03:21:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:21:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:21:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4374
+[05/26 03:21:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4374 in 3.82s (batch: 3.59s, save: 0.23s)
+[05/26 03:21:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4374
+[05/26 03:21:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4374: 0/1 successful episodes
+[05/26 03:21:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4411 (index 12/37)
+[05/26 03:21:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4411 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 03:21:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/30 [00:00<?, ?it/s]
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+
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+[05/26 03:21:38 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_8
+[05/26 03:21:38 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/0f1f3038a3144ab88d39739cc980fdc1
+[05/26 03:21:38 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_22
+[05/26 03:21:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4411_ceiling.xml
+[05/26 03:21:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4411, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:21:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:21:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects
+[05/26 03:21:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:21:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:21:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:21:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:21:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:21:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular wooden luggage tag with engraving and place it in or on the smooth silver bowl'
+[05/26 03:21:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 4411 episode 0/1 collected=0/2
+[05/26 03:21:42 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:21:42 Worker 0 WARNING object_manager.py:1238] Could not find object objalemonsqueezer_5679cddc744c4f39b731890788405de6_1_0_6 in scene
+[05/26 03:21:42 Worker 0 WARNING object_manager.py:1238] Could not find object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_6 in scene
+[2026-05-26 03:23:10,179] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:23:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 03:26:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4411 episode 0 object objaluggagetag_8564a22483104f8aac76a02c12db952a_1_0_7 completed with success=False
+[05/26 03:26:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4411: 1 episodes
+[05/26 03:26:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:26:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:26:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4411
+[05/26 03:26:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4411 in 3.82s (batch: 3.56s, save: 0.25s)
+[05/26 03:26:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4411
+[05/26 03:26:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4411: 0/1 successful episodes
+[05/26 03:26:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4484 (index 13/37)
+[05/26 03:26:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4484 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 03:26:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 03:26:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/08dd440442874c8e8ae35494b4aff0a2
+[05/26 03:26:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/24ee73c87dcf4161a630bb65dee2a7a5
+[05/26 03:26:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/1bac786df9e446a795e442a83f49056a
+[05/26 03:26:28 Worker 0 INFO scene_maps.py:66] Deleted 1 blacklisted bodies from scene
+[05/26 03:26:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4484_ceiling.xml
+[05/26 03:26:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4484, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:26:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:26:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 100 objects
+[05/26 03:26:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:26:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:26:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:26:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:26:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:26:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the irregular charred wooden fragment and place it in or on the patchwork ceramic bowl rustic'
+[05/26 03:26:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 4484 episode 0/1 collected=0/2
+[05/26 03:26:38 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:26:38 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene
+[2026-05-26 03:28:47,937] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:30:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 03:40:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4484 episode 0 object objawood_ae78ba7e73fc4c47a99f4cde24adc46f_1_0_2 completed with success=False
+[05/26 03:40:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4484: 1 episodes
+[05/26 03:40:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:40:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:40:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4484
+[05/26 03:40:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4484 in 3.58s (batch: 3.44s, save: 0.14s)
+[05/26 03:40:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4484
+[05/26 03:40:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4484: 0/1 successful episodes
+[05/26 03:40:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4540 (index 14/37)
+[05/26 03:40:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4540 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 03:40:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/38 [00:00<?, ?it/s]
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+
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Checking grasps/droid_objaverse: 100%|██████████| 15/15 [00:00<00:00, 9980.10it/s]
+[05/26 03:40:21 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/1e23d9b649a643528ce00de750e858de
+[05/26 03:40:21 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/408b385373564c16acda3224de7d2ec6
+[05/26 03:40:21 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/2911e8c87d49402c9e3c18277c8b2b2a
+[05/26 03:40:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4540_ceiling.xml
+[05/26 03:40:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4540, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:40:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:40:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects
+[05/26 03:40:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:40:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:40:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:40:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:40:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:40:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small beige clay tablet with engravings and place it in or on the ceramic bowl'
+[05/26 03:40:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 4540 episode 0/1 collected=0/2
+[05/26 03:40:26 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:42:30,005] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:46:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 4540 episode 0 object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_2_0_5 completed with success=False
+[05/26 03:46:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4540: 1 episodes
+[05/26 03:46:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:46:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:46:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4540
+[05/26 03:46:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4540 in 2.54s (batch: 2.45s, save: 0.09s)
+[05/26 03:46:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4540
+[05/26 03:46:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4540: 0/1 successful episodes
+[05/26 03:46:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4584 (index 15/37)
+[05/26 03:46:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4584 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 03:46:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+[05/26 03:46:50 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/93ef7da87b1e43fbb47f3b26b927f777
+[05/26 03:46:50 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/fb56f8968a9c443897498a9ccf5c46d1
+[05/26 03:46:50 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/7bf14a57ee5345689c3efd4bd1616466
+[05/26 03:46:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4584_ceiling.xml
+[05/26 03:46:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4584, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:46:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:46:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects
+[05/26 03:46:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:46:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:46:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:46:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:46:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:46:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark metal container with label and place it in or on the rustic round clay dish with handles'
+[05/26 03:46:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 4584 episode 0/1 collected=0/2
+[05/26 03:46:55 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:46:55 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_f815ad52d37c217cefc0cafa7edbb112_1_0_5 in scene
+[2026-05-26 03:48:50,268] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:50:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 03:54:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 4584 episode 0 object objavintagecontainer_1681199327f545f6bebc94b7408769ed_2_0_6 completed with success=False
+[05/26 03:54:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4584: 1 episodes
+[05/26 03:54:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:54:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:54:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4584
+[05/26 03:54:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4584 in 3.01s (batch: 2.88s, save: 0.13s)
+[05/26 03:54:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4584
+[05/26 03:54:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4584: 0/1 successful episodes
+[05/26 03:54:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4641 (index 16/37)
+[05/26 03:54:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4641 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 03:54:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+[05/26 03:55:09 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/e2a8c3df68a94aea94050e01ad9aa918
+[05/26 03:55:09 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/cfe3c9eed1554f59ad7756e27d97c667
+[05/26 03:55:09 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/d50f554707f24584b988e2feea162cc5
+[05/26 03:55:09 Worker 0 INFO scene_maps.py:66] Deleted 1 blacklisted bodies from scene
+[05/26 03:55:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4641_ceiling.xml
+[05/26 03:55:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4641, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:55:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:55:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects
+[05/26 03:55:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:55:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:55:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:55:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:55:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:55:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ancient greek kylix with artwork and place it in or on the stone bowl with crystals'
+[05/26 03:55:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 4641 episode 0/1 collected=0/2
+[05/26 03:55:14 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:55:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene
+[05/26 03:55:15 Worker 0 WARNING object_manager.py:1238] Could not find object objabrooch_d4aadade26e64be8a05670b0305c8d9f_1_0_7 in scene
+[05/26 03:55:15 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_7e1337b32a9e0d9439bef16e80df0de2_1_0_7 in scene
+[2026-05-26 03:56:57,872] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:01:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 4641 episode 0 object objakylix_d9cc347595664f83bc1461c857756452_1_0_4 completed with success=False
+[05/26 04:01:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4641: 1 episodes
+[05/26 04:01:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:01:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:01:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4641
+[05/26 04:01:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4641 in 3.25s (batch: 3.07s, save: 0.18s)
+[05/26 04:01:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4641
+[05/26 04:01:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4641: 0/1 successful episodes
+[05/26 04:01:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4698 (index 17/37)
+[05/26 04:01:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4698 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 04:01:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/9 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 9/9 [00:00<00:00, 36649.26it/s]
+
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Checking grasps/droid_objaverse: 100%|██████████| 5/5 [00:00<00:00, 16591.39it/s]
+[05/26 04:01:38 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Pot_28
+[05/26 04:01:38 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/12ca824c9c81470d994ceccb4b5a9061
+[05/26 04:01:38 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/0aab5f2a6f744c13bffef0fccf53c0e0
+[05/26 04:01:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4698_ceiling.xml
+[05/26 04:01:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4698, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:01:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:01:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects
+[05/26 04:01:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:01:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:01:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:01:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:01:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:01:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the sleek glossy curved plastic eyeglass frame and place it in or on the teal bowl'
+[05/26 04:01:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 4698 episode 0/1 collected=0/2
+[05/26 04:01:41 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:03:59,330] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:05:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 04:07:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4698 episode 0 object objaeyewearframe_a4b712ccca9740d4970a09a54731d812_1_0_2 completed with success=False
+[05/26 04:07:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4698: 1 episodes
+[05/26 04:07:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:07:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:07:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4698
+[05/26 04:07:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4698 in 2.92s (batch: 2.78s, save: 0.14s)
+[05/26 04:07:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4698
+[05/26 04:07:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4698: 0/1 successful episodes
+[05/26 04:07:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4707 (index 18/37)
+[05/26 04:07:15 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4707 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 04:07:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/8 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 8/8 [00:00<00:00, 33420.75it/s]
+[05/26 04:07:15 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/cbb67bbbe42e42189931574ce0d4926d
+[05/26 04:07:15 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/2b2f2afe691143b1a0d9c56141b028f9
+[05/26 04:07:15 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/fdfd829fe39049a69f6df2289b29dc7f
+[05/26 04:07:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4707_ceiling.xml
+[05/26 04:07:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4707, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:07:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:07:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects
+[05/26 04:07:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:07:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:07:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:07:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:07:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:07:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the bronze seal and place it in or on the leaf-shaped gray dish'
+[05/26 04:07:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 4707 episode 0/2 collected=0/2
+[05/26 04:07:17 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:08:46,901] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:10:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 04:13:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4707 episode 0 object objaseal_9d5e1792205e4d908035feb229b6d375_1_0_2 completed with success=False
+[05/26 04:14:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/8 [00:00<?, ?it/s]
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+[05/26 04:14:04 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/cbb67bbbe42e42189931574ce0d4926d
+[05/26 04:14:04 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/2b2f2afe691143b1a0d9c56141b028f9
+[05/26 04:14:04 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/fdfd829fe39049a69f6df2289b29dc7f
+[05/26 04:14:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4707_ceiling.xml
+[05/26 04:14:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4707, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:14:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:14:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects
+[05/26 04:14:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:14:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:14:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:14:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:14:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:14:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow knife and place it in or on the rectangular vintage metal storage tin'
+[05/26 04:14:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 4707 episode 1/2 collected=1/2
+[05/26 04:14:07 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:16:38,832] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:17:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 04:21:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4707 episode 1 object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_2 completed with success=False
+[05/26 04:21:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4707: 2 episodes
+[05/26 04:21:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:21:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:21:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:21:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:21:52 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4707
+[05/26 04:21:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4707 in 5.43s (batch: 5.25s, save: 0.18s)
+[05/26 04:21:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4707
+[05/26 04:21:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4707: 0/2 successful episodes
+[05/26 04:21:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4738 (index 19/37)
+[05/26 04:21:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4738 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 04:21:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+
Checking grasps/droid_objaverse:   0%|          | 0/27 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 27/27 [00:00<00:00, 23456.13it/s]
+[05/26 04:22:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/0f5266888bc749ea916c69d88b375cbf
+[05/26 04:22:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/b8cba8b5a69543ce9875c40028261490
+[05/26 04:22:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/5c5c3b9ae7874b709c10ac57dad33195
+[05/26 04:22:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4738_ceiling.xml
+[05/26 04:22:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4738, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:22:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:22:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 69 objects
+[05/26 04:22:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:22:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:22:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:22:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:22:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:22:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the folded origami paper crane and place it in or on the round gray ceramic bowl'
+[05/26 04:22:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 4738 episode 0/1 collected=0/2
+[05/26 04:22:08 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:23:20,239] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:24:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 04:28:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4738 episode 0 object objaorigamicrane_1455ff78988c49d380161281102ee908_1_0_4 completed with success=False
+[05/26 04:28:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4738: 1 episodes
+[05/26 04:28:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:28:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:28:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4738
+[05/26 04:28:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4738 in 3.45s (batch: 3.35s, save: 0.10s)
+[05/26 04:28:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4738
+[05/26 04:28:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4738: 0/1 successful episodes
+[05/26 04:28:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4765 (index 20/37)
+[05/26 04:28:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4765 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 04:28:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/9 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 9/9 [00:00<00:00, 36472.21it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/5 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 5/5 [00:00<00:00, 24847.77it/s]
+[05/26 04:28:50 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/10578ce7eca64714b260b142553f34f5
+[05/26 04:28:50 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/0aab5f2a6f744c13bffef0fccf53c0e0
+[05/26 04:28:50 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0
+[05/26 04:28:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4765_ceiling.xml
+[05/26 04:28:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4765, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:28:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:28:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 18 objects
+[05/26 04:28:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:28:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:28:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:28:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:28:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:28:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cylindrical tape with zigzag pattern and place it in or on the shallow beige ceramic bowl with cracks'
+[05/26 04:28:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 4765 episode 0/1 collected=0/2
+[05/26 04:28:53 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:28:53 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativehorn_041a7f79ab8e4a7993f29bda7177dc3c_1_0_2 in scene
+[05/26 04:28:53 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_8a68fddf9d6f2cf4be39b3c60dc110ab_1_0_2 in scene
+[2026-05-26 04:30:52,166] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:35:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4765 episode 0 object objadecorativetape_a6bece29c668474c8a01a368941f0e9a_1_0_2 completed with success=False
+[05/26 04:35:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4765: 1 episodes
+[05/26 04:35:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:35:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:35:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4765
+[05/26 04:35:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4765 in 2.67s (batch: 2.57s, save: 0.09s)
+[05/26 04:35:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4765
+[05/26 04:35:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4765: 0/1 successful episodes
+[05/26 04:35:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4803 (index 21/37)
+[05/26 04:35:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4803 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 04:35:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/33 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 33/33 [00:00<00:00, 55542.55it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/15 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 15/15 [00:00<00:00, 4889.23it/s]
+[05/26 04:35:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/27dd012c10e64049b8ca900fe86f077f
+[05/26 04:35:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/977c0bb0114e4728b7c6ccb89da913ec
+[05/26 04:35:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/ac2b50d2542c4f458b4ea404b8ed5e4b
+[05/26 04:35:26 Worker 0 INFO scene_maps.py:66] Deleted 1 blacklisted bodies from scene
+[05/26 04:35:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4803_ceiling.xml
+[05/26 04:35:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4803, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:35:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:35:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects
+[05/26 04:35:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:35:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:35:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:35:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:35:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:35:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass eye and place it in or on the rectangular platform with recessed center'
+[05/26 04:35:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 4803 episode 0/1 collected=0/2
+[05/26 04:35:29 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:35:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene
+[05/26 04:35:29 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene
+[05/26 04:35:29 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_eb320910987847f0b361c8c1936d9574_1_0_5 in scene
+[05/26 04:35:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaartpiece_92cadd9e10e64ea1a66f963803d79902_1_0_7 in scene
+[05/26 04:35:29 Worker 0 WARNING object_manager.py:1238] Could not find object plate_677f844114df17e12c97d63ddf0f6037_1_0_7 in scene
+[2026-05-26 04:36:33,120] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:39:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4803 episode 0 object objadecorativeeye_9d390baaeec94960808345f88af56997_1_0_7 completed with success=False
+[05/26 04:39:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4803: 1 episodes
+[05/26 04:39:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:39:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:39:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4803
+[05/26 04:39:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4803 in 2.38s (batch: 2.28s, save: 0.09s)
+[05/26 04:39:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4803
+[05/26 04:39:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4803: 0/1 successful episodes
+[05/26 04:39:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4857 (index 22/37)
+[05/26 04:39:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4857 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 04:39:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 04:39:10 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/5f6ab8152ec9440e9b922def5ae8b8b2
+[05/26 04:39:10 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_24
+[05/26 04:39:10 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/7b3bfdab414148a08cbf46fc105e280a
+[05/26 04:39:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4857_ceiling.xml
+[05/26 04:39:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4857, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:39:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:39:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects
+[05/26 04:39:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:39:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:39:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:39:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:39:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:39:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the steam iron and place it in or on the textured ceramic bowl with colors'
+[05/26 04:39:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 4857 episode 0/1 collected=0/2
+[05/26 04:39:12 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:40:18,570] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:40:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 04:44:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4857 episode 0 object objasteamiron_7dc6eeb22d424534b45783fbe997b302_1_0_6 completed with success=False
+[05/26 04:44:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4857: 1 episodes
+[05/26 04:44:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:44:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:44:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4857
+[05/26 04:44:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4857 in 3.81s (batch: 3.59s, save: 0.22s)
+[05/26 04:44:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4857
+[05/26 04:44:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4857: 0/1 successful episodes
+[05/26 04:44:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4916 (index 23/37)
+[05/26 04:44:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 04:44:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
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+[05/26 04:44:34 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/0aab5f2a6f744c13bffef0fccf53c0e0
+[05/26 04:44:34 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/1e4b75a1bb484c42b99fcd3ddf23ae9f
+[05/26 04:44:34 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/b54b110dfccb4ea3a8f5a06cc65edc5a
+[05/26 04:44:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4916_ceiling.xml
+[05/26 04:44:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4916, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:44:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:44:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects
+[05/26 04:44:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:44:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:44:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:44:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:44:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:44:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray rectangular dispenser and place it in or on the teal bowl with matte interior'
+[05/26 04:44:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 4916 episode 0/1 collected=0/2
+[05/26 04:44:37 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:46:20,234] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:46:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 04:52:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4916 episode 0 object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_3 completed with success=False
+[05/26 04:52:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4916: 1 episodes
+[05/26 04:52:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:52:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:52:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4916
+[05/26 04:52:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4916 in 2.81s (batch: 2.69s, save: 0.12s)
+[05/26 04:52:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4916
+[05/26 04:52:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4916: 0/1 successful episodes
+[05/26 04:52:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4982 (index 24/37)
+[05/26 04:52:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4982 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 04:52:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
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+[05/26 04:52:48 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/7bcc0425058142c59255979a2b61f0d2
+[05/26 04:52:48 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_13
+[05/26 04:52:48 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/80f09dd8b3d34005b3625823091978af
+[05/26 04:52:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4982_ceiling.xml
+[05/26 04:52:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4982, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:52:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:52:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 102 objects
+[05/26 04:52:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:52:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:52:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:52:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:52:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:52:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the wing screw and place it in or on the smooth gray ceramic bowl for food'
+[05/26 04:52:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 4982 episode 0/1 collected=0/2
+[05/26 04:52:54 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:54:19,327] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:54:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 04:58:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4982 episode 0 object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_8 completed with success=False
+[05/26 04:58:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4982: 1 episodes
+[05/26 04:58:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:58:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:58:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4982
+[05/26 04:58:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4982 in 3.74s (batch: 3.61s, save: 0.13s)
+[05/26 04:58:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4982
+[05/26 04:58:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4982: 0/1 successful episodes
+[05/26 04:58:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5004 (index 25/37)
+[05/26 04:58:41 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5004 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 04:58:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
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+[05/26 04:58:48 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/fe6a6e9cf17545179f8c6b81e5499b46
+[05/26 04:58:48 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/37d330a69f964e4689d8f4b57faf89f5
+[05/26 04:58:48 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/e11475635c464216a2213d65c45a319a
+[05/26 04:58:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5004_ceiling.xml
+[05/26 04:58:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5004, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:58:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:58:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects
+[05/26 04:58:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:58:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:58:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:58:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:58:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:58:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black leather collar with spikes and place it in or on the round gray bowl'
+[05/26 04:58:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 5004 episode 0/2 collected=0/2
+[05/26 04:58:54 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:58:54 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene
+[2026-05-26 05:01:04,204] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:05:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 5004 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_3 completed with success=False
+[05/26 05:05:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+[05/26 05:05:56 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/fe6a6e9cf17545179f8c6b81e5499b46
+[05/26 05:05:56 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/37d330a69f964e4689d8f4b57faf89f5
+[05/26 05:05:56 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/e11475635c464216a2213d65c45a319a
+[05/26 05:06:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5004_ceiling.xml
+[05/26 05:06:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5004, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:06:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:06:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects
+[05/26 05:06:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:06:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:06:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:06:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:06:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:06:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pink stylized fish with white spot and place it in or on the light gray shallow round bowl'
+[05/26 05:06:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 5004 episode 1/2 collected=1/2
+[05/26 05:06:01 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 05:06:02 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene
+[2026-05-26 05:08:02,645] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:09:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 05:17:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 5004 episode 1 object objafish_a7e1f30e664a4db18ecea3c6ffb0a90c_1_0_2 completed with success=False
+[05/26 05:18:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5004: 2 episodes
+[05/26 05:18:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:18:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:18:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:18:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:18:11 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5004
+[05/26 05:18:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5004 in 6.76s (batch: 6.44s, save: 0.32s)
+[05/26 05:18:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5004
+[05/26 05:18:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5004: 0/2 successful episodes
+[05/26 05:18:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5020 (index 26/37)
+[05/26 05:18:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5020 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 05:18:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 05:18:14 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/7bcc0425058142c59255979a2b61f0d2
+[05/26 05:18:14 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/80f09dd8b3d34005b3625823091978af
+[05/26 05:18:14 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/836b48b21dcb4842a208c66f106abf18
+[05/26 05:18:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5020_ceiling.xml
+[05/26 05:18:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5020, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:18:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:18:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 75 objects
+[05/26 05:18:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:18:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:18:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:18:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:18:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:18:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray shackle with orange pin and place it in or on the tan decorative bowl'
+[05/26 05:18:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 5020 episode 0/1 collected=0/2
+[05/26 05:18:19 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:20:19,740] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:21:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 05:25:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 5020 episode 0 object objashackle_d956a23797094d87aa85c1a139c15d68_1_0_2 completed with success=False
+[05/26 05:25:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5020: 1 episodes
+[05/26 05:25:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:25:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:25:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5020
+[05/26 05:25:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5020 in 3.65s (batch: 3.43s, save: 0.22s)
+[05/26 05:25:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5020
+[05/26 05:25:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5020: 0/1 successful episodes
+[05/26 05:25:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5115 (index 27/37)
+[05/26 05:25:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5115 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 05:25:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
Checking grasps/droid_objaverse:   0%|          | 0/5 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 5/5 [00:00<00:00, 3827.62it/s]
+[05/26 05:25:23 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/fdfd829fe39049a69f6df2289b29dc7f
+[05/26 05:25:23 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/12ca824c9c81470d994ceccb4b5a9061
+[05/26 05:25:23 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/1e23d9b649a643528ce00de750e858de
+[05/26 05:25:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5115_ceiling.xml
+[05/26 05:25:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5115, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:25:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:25:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 9 objects
+[05/26 05:25:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:25:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:25:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:25:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:25:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:25:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the olive-green spray can and place it in or on the rustic round ceramic bowl'
+[05/26 05:25:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 5115 episode 0/1 collected=0/2
+[05/26 05:25:26 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:28:04,898] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:29:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 05:32:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 5115 episode 0 object objaspraycan_e9c031fbf1bd451998676923027e296a_1_0_2 completed with success=False
+[05/26 05:32:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5115: 1 episodes
+[05/26 05:32:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:32:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:32:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5115
+[05/26 05:32:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5115 in 3.99s (batch: 3.84s, save: 0.15s)
+[05/26 05:33:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5115
+[05/26 05:33:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5115: 0/1 successful episodes
+[05/26 05:33:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5164 (index 28/37)
+[05/26 05:33:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5164 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 05:33:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 05:33:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/93ef7da87b1e43fbb47f3b26b927f777
+[05/26 05:33:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/5f6ab8152ec9440e9b922def5ae8b8b2
+[05/26 05:33:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/74f5c16ba1f5406ba30bda961f0c0bd1
+[05/26 05:33:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5164_ceiling.xml
+[05/26 05:33:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5164, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:33:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:33:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects
+[05/26 05:33:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:33:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:33:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:33:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:33:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:33:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the moka pot and place it in or on the blue pot'
+[05/26 05:33:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 5164 episode 0/1 collected=0/2
+[05/26 05:33:11 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:35:22,272] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:36:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 05:39:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 5164 episode 0 object objamokapot_eb0d9a02bb39465e95d82e84dd86a654_1_0_2 completed with success=False
+[05/26 05:39:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5164: 1 episodes
+[05/26 05:39:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:39:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:39:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5164
+[05/26 05:39:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5164 in 3.42s (batch: 3.22s, save: 0.20s)
+[05/26 05:39:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5164
+[05/26 05:39:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5164: 0/1 successful episodes
+[05/26 05:39:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5218 (index 29/37)
+[05/26 05:39:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5218 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 05:39:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+[05/26 05:39:36 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/b8cba8b5a69543ce9875c40028261490
+[05/26 05:39:36 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/2df58d08f5604c058d43e00677d325b6
+[05/26 05:39:36 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/56dccb62700a4c04b42646e060c087f5
+[05/26 05:39:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5218_ceiling.xml
+[05/26 05:39:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5218, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:39:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:39:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects
+[05/26 05:39:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:39:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:39:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:39:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:39:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:39:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the partially burned white candle and place it in or on the glossy brown ceramic bowl with swirls'
+[05/26 05:39:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 5218 episode 0/1 collected=0/2
+[05/26 05:39:39 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:41:43,212] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:42:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 05:48:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5218 episode 0 object objacandle_d6c8730447ce4ddfb6c5b72609216476_1_0_3 completed with success=False
+[05/26 05:48:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5218: 1 episodes
+[05/26 05:48:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:48:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:48:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5218
+[05/26 05:48:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5218 in 3.24s (batch: 3.08s, save: 0.15s)
+[05/26 05:48:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5218
+[05/26 05:48:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5218: 0/1 successful episodes
+[05/26 05:48:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5287 (index 30/37)
+[05/26 05:48:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5287 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 05:48:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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Checking grasps/droid_objaverse: 100%|██████████| 15/15 [00:00<00:00, 6977.33it/s]
+[05/26 05:48:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/936714802d2849bea3efb1eb5c83cee6
+[05/26 05:48:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_25
+[05/26 05:48:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/15607bdf52a64f81a7555de4cfad4029
+[05/26 05:48:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5287_ceiling.xml
+[05/26 05:48:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5287, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:48:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:48:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects
+[05/26 05:48:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:48:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:48:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:48:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:48:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:48:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange brush and place it in or on the irregular shaped reddish clay bowl'
+[05/26 05:48:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 5287 episode 0/1 collected=0/2
+[05/26 05:48:32 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:50:28,165] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:55:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 5287 episode 0 object objabrush_f8f0d72e40d24bf8afa4b0157cbcb7c7_1_0_8 completed with success=False
+[05/26 05:55:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5287: 1 episodes
+[05/26 05:55:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:55:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:55:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5287
+[05/26 05:55:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5287 in 4.04s (batch: 3.73s, save: 0.30s)
+[05/26 05:55:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5287
+[05/26 05:55:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5287: 0/1 successful episodes
+[05/26 05:55:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5359 (index 31/37)
+[05/26 05:55:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5359 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 05:55:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/60 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 60/60 [00:00<00:00, 75686.69it/s]
+
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Checking grasps/droid_objaverse: 100%|██████████| 23/23 [00:00<00:00, 57904.56it/s]
+[05/26 05:56:01 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/561e6757555049fca93f56e479f7cbe4
+[05/26 05:56:01 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/12ca824c9c81470d994ceccb4b5a9061
+[05/26 05:56:01 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/472cceee5a224ff6933e7baf31d16641
+[05/26 05:56:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5359_ceiling.xml
+[05/26 05:56:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5359, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:56:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:56:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 74 objects
+[05/26 05:56:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:56:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:56:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:56:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:56:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:56:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the wooden corkscrew and place it in or on the round small beige bowl'
+[05/26 05:56:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 5359 episode 0/1 collected=0/2
+[05/26 05:56:08 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 05:56:09 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 in scene
+[05/26 05:56:09 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_5 in scene
+[2026-05-26 05:57:46,045] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:58:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 06:01:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 5359 episode 0 object objacorkscrew_63c8864e17844947b75f6cd32d8e5224_1_0_2 completed with success=False
+[05/26 06:01:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5359: 1 episodes
+[05/26 06:01:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:01:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:01:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5359
+[05/26 06:01:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5359 in 2.53s (batch: 2.44s, save: 0.10s)
+[05/26 06:01:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5359
+[05/26 06:01:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5359: 0/1 successful episodes
+[05/26 06:01:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5389 (index 32/37)
+[05/26 06:01:58 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5389 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 06:01:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/32 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 32/32 [00:00<00:00, 51681.84it/s]
+
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+[05/26 06:02:09 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/b60e63f150034acbabd32dc9ef8563de
+[05/26 06:02:09 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/372c4540cbe148b9bddcbbf1761b5e81
+[05/26 06:02:09 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/f42af504c27649c78412bafd25665e46
+[05/26 06:02:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5389_ceiling.xml
+[05/26 06:02:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5389, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:02:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:02:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects
+[05/26 06:02:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:02:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:02:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:02:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:02:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:02:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the thin white electronic display showing promotion and place it in or on the shallow rustic brown coconut bowl'
+[05/26 06:02:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 5389 episode 0/2 collected=0/2
+[05/26 06:02:11 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:03:26,948] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:07:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 5389 episode 0 object objaelectronicdisplay_39fdfa7c14a640b58a5ff5e47a1af37c_1_0_7 completed with success=False
+[05/26 06:08:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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Checking grasps/droid_objaverse: 100%|██████████| 14/14 [00:00<00:00, 57288.05it/s]
+[05/26 06:08:04 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/b60e63f150034acbabd32dc9ef8563de
+[05/26 06:08:04 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/372c4540cbe148b9bddcbbf1761b5e81
+[05/26 06:08:04 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/f42af504c27649c78412bafd25665e46
+[05/26 06:08:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5389_ceiling.xml
+[05/26 06:08:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5389, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:08:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:08:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects
+[05/26 06:08:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:08:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:08:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:08:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:08:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:08:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the hexagonal metallic light projector and place it in or on the shallow rustic brown coconut bowl'
+[05/26 06:08:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 5389 episode 1/2 collected=1/2
+[05/26 06:08:08 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:10:40,518] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:12:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 06:15:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 5389 episode 1 object objaholographicprojector_137582d0c2774eaaad2400a9f9944df4_1_0_4 completed with success=False
+[05/26 06:15:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5389: 2 episodes
+[05/26 06:15:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:15:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:15:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:15:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:15:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5389
+[05/26 06:15:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5389 in 5.31s (batch: 5.13s, save: 0.18s)
+[05/26 06:15:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5389
+[05/26 06:15:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5389: 0/2 successful episodes
+[05/26 06:15:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5424 (index 33/37)
+[05/26 06:15:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5424 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 06:15:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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Checking grasps/droid_objaverse: 100%|██████████| 13/13 [00:00<00:00, 5417.92it/s]
+[05/26 06:15:44 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/b4058303001a4878bbe5c3f248dedd78
+[05/26 06:15:44 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Pot_4
+[05/26 06:15:44 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/5f6ab8152ec9440e9b922def5ae8b8b2
+[05/26 06:15:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5424_ceiling.xml
+[05/26 06:15:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5424, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:15:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:15:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects
+[05/26 06:15:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:15:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:15:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:15:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:15:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:15:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the oval bronze seal with engraved figure and place it in or on the rustic ceramic bowl with earthy tones'
+[05/26 06:15:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 5424 episode 0/1 collected=0/2
+[05/26 06:15:47 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:17:38,006] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:18:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 06:23:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 5424 episode 0 object objaseal_9d5e1792205e4d908035feb229b6d375_1_0_7 completed with success=False
+[05/26 06:23:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5424: 1 episodes
+[05/26 06:23:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:23:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:23:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5424
+[05/26 06:23:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5424 in 3.20s (batch: 2.99s, save: 0.21s)
+[05/26 06:23:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5424
+[05/26 06:23:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5424: 0/1 successful episodes
+[05/26 06:23:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5465 (index 34/37)
+[05/26 06:23:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5465 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 06:23:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+[05/26 06:23:47 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/ede795f1c6f74a99b6952183f340fcb8
+[05/26 06:23:47 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/8c419f6d0cbc4580a2e2b9d273969b97
+[05/26 06:23:47 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/71c1d24834ca4725963d69d5bb0a5011
+[05/26 06:23:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5465_ceiling.xml
+[05/26 06:23:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5465, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:23:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:23:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 81 objects
+[05/26 06:23:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:23:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:23:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:23:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:23:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:23:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red polka dot bowtie and place it in or on the green bowl'
+[05/26 06:23:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 5465 episode 0/1 collected=0/2
+[05/26 06:23:54 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:25:18,416] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:28:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 5465 episode 0 object objabowtie_a3f9109d67fe429aa527428dcdac1c6e_1_0_6 completed with success=False
+[05/26 06:28:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5465: 1 episodes
+[05/26 06:28:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:28:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:28:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5465
+[05/26 06:28:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5465 in 2.70s (batch: 2.58s, save: 0.13s)
+[05/26 06:28:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5465
+[05/26 06:28:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5465: 0/1 successful episodes
+[05/26 06:28:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5491 (index 35/37)
+[05/26 06:28:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5491 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 06:28:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/20 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 20/20 [00:00<00:00, 32844.98it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/4 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 4/4 [00:00<00:00, 16400.02it/s]
+[05/26 06:28:45 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/93ef7da87b1e43fbb47f3b26b927f777
+[05/26 06:28:45 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/d318587cfc624b18b52a3a7fb7124373
+[05/26 06:28:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Pot_19
+[05/26 06:28:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5491_ceiling.xml
+[05/26 06:28:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5491, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:28:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:28:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects
+[05/26 06:28:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:28:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:28:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:28:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:28:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:28:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the worn turquoise can and place it in or on the blue pot'
+[05/26 06:28:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 5491 episode 0/1 collected=0/2
+[05/26 06:28:48 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:30:40,788] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:31:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 06:33:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 5491 episode 0 object objafoodcan_7f5083c31b074cc3a08bf2bd4ef16591_1_0_6 completed with success=False
+[05/26 06:33:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5491: 1 episodes
+[05/26 06:33:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:33:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:33:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5491
+[05/26 06:33:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5491 in 2.66s (batch: 2.54s, save: 0.12s)
+[05/26 06:33:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5491
+[05/26 06:33:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5491: 0/1 successful episodes
+[05/26 06:33:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5537 (index 36/37)
+[05/26 06:33:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00
+[05/26 06:33:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/34 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 34/34 [00:00<00:00, 39459.42it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/16 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 16/16 [00:00<00:00, 54383.20it/s]
+[05/26 06:33:55 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/24ee73c87dcf4161a630bb65dee2a7a5
+[05/26 06:33:55 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_21
+[05/26 06:33:55 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4
+[05/26 06:33:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5537_ceiling.xml
+[05/26 06:33:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5537, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:33:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:33:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects
+[05/26 06:33:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:33:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:33:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:33:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:33:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:33:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy u-shaped blue and red magnet and place it in or on the round gray bowl'
+[05/26 06:33:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 5537 episode 0/1 collected=0/2
+[05/26 06:34:00 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 06:34:00 Worker 0 WARNING object_manager.py:1238] Could not find object objareplicagrenade_35bb02f065604241a6119f7623978332_1_0_8 in scene
+[05/26 06:34:00 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_a44357a2040f1b94a5a7e0de00e153b6_1_0_8 in scene
+[2026-05-26 06:35:28,243] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:35:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 06:41:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 5537 episode 0 object objamagnet_203d2234abaf4e33851d2ab311015da7_1_0_4 completed with success=False
+[05/26 06:41:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5537: 1 episodes
+[05/26 06:41:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:41:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:41:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5537
+[05/26 06:41:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5537 in 3.70s (batch: 3.46s, save: 0.24s)
+[05/26 06:41:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5537
+[05/26 06:41:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5537: 0/1 successful episodes
+[05/26 06:41:57 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses
+[05/26 06:41:58 INFO pipeline.py:1496] Completed 37 houses, skipped 0 houses
+[05/26 06:41:58 INFO pipeline.py:1499] Success count: 0, Total count: 42
+[05/26 06:41:58 INFO pipeline.py:1500] Success rate: 0.00%
+Combined 42 episodes from 37 files → /tmp/tmpvadbkst4.h5
+
+Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/results.csv at-end: 0.0% | oracle: 0.0% of 42 episodes
+[2026-05-26 06:42:05,948] INFO MolmoSpaces simulator eval finished: success=0/42 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval
+[2026-05-26 06:42:05,949] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/results.csv
diff --git a/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log b/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log
new file mode 100644
index 0000000000000000000000000000000000000000..bd05f7acd370ebbf541ba95d2aa72390ed15469f
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log
@@ -0,0 +1,2781 @@
+05/25 10:25:33 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 677]
+05/25 10:25:33 INFO: Starting house-by-house rollout of 112 houses with 2 episodes each (224 total episodes) using 1 worker processes	[pipeline.py: 1279]
+05/25 10:25:33 INFO: Evaluation configuration:	[pipeline.py: 1286]
+05/25 10:25:33 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05'),
+ 'camera_config': None,
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'val',
+ 'datagen_profiler': False,
+ 'end_on_success': True,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': False,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533'),
+ 'policy_config': {'action_chunk_size': 8,
+                   'action_move_group_names': ['arm', 'gripper'],
+                   'action_spec': {'arm': 7, 'gripper': 1},
+                   'action_type': 'joint_pos_rel',
+                   'allow_create_prompt_embedding': True,
+                   'camera_names': ['droid_shoulder_light_randomization',
+                                    'wrist_camera_zed_mini'],
+                   'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt',
+                   'device': 'cuda:0',
+                   'name': 'wan_molmobot_franka',
+                   'obs_camera_name': 'droid_shoulder_light_randomization',
+                   'obs_image_key': 'rgb_head',
+                   'obs_state_key': 'robot_state',
+                   'obs_wrist_camera_name': 'wrist_camera_zed_mini',
+                   'obs_wrist_image_key': 'rgb_wrist',
+                   'policy_cls': <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'>,
+                   'policy_type': 'learned',
+                   'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan',
+                   't5_tokenizer_path': 'google/umt5-xxl',
+                   'task_description_fallback': 'manipulate the target object',
+                   'text_context_key': 'text_context',
+                   'text_embedding_device': 'cpu',
+                   'text_embedding_dtype': 'bf16',
+                   'text_embedding_text_len': 512,
+                   'use_ema': False,
+                   'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'},
+ 'policy_dt_ms': 66.0,
+ 'profile': False,
+ 'profiler': None,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': False,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'base_size': [0.5, 0.5, 0.58],
+                  'command_mode': {'arm': 'joint_rel_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'perturb_texture_probability': 0.7,
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'scene_dataset': 'procthor-10k',
+ 'seed': 42,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'object_poses': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'task_cls': None,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 450,
+ 'task_sampler_config': {'check_robot_placement_visibility': True,
+                         'enable_texture_randomization': False,
+                         'house_inds': [101,
+                                        143,
+                                        226,
+                                        278,
+                                        321,
+                                        372,
+                                        379,
+                                        448,
+                                        487,
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+                                        5262,
+                                        5323,
+                                        5408,
+                                        5442,
+                                        5482,
+                                        5511,
+                                        5555],
+                         'load_robot_from_file': True,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 10,
+                         'max_allowed_sequential_task_sampler_failures': 10,
+                         'max_asset_failures': 10,
+                         'max_tasks': 10000,
+                         'max_total_attempts_multiplier': 6,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'robot_placement_exclusion_threshold': 0.15,
+                         'robot_placement_rotation_range_rad': 0.7853981633974483,
+                         'samples_per_house': 2,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.task_sampler.BaseMujocoTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'pick',
+ 'terminate_upon_success': False,
+ 'use_filament': True,
+ 'use_passive_viewer': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'wandb_name': None,
+ 'wandb_project': 'mlspaces-benchmark-eval'}	[pipeline.py: 1287]
+05/25 10:25:33 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler	[pipeline.py: 439]
+05/25 10:25:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 10:25:33 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler	[pipeline.py: 445]
+05/25 10:25:33 INFO: [Worker 0] Worker 0 starting house 101 (index 0/112)	[pipeline.py: 473]
+05/25 10:25:33 INFO: [Worker 0] Loaded 1 episodes for house 101 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 10:25:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 10:25:49 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/2b2f2afe691143b1a0d9c56141b028f9	[json_eval_task_sampler.py: 648]
+05/25 10:25:49 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/752b1b00e4734e448428ccbd8ddae76c	[json_eval_task_sampler.py: 648]
+05/25 10:25:49 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_13	[json_eval_task_sampler.py: 648]
+05/25 10:25:49 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/25 10:25:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_101_ceiling.xml	[task_sampler.py: 797]
+05/25 10:25:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=101, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 10:25:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 10:25:56 INFO: [Worker 0] randomize_scene: Setting poses for 88 objects	[json_eval_task_sampler.py: 686]
+05/25 10:25:56 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 10:26:03 INFO: [Worker 0] Sampled task 'Pick up the adjustable sleek metallic hinge and place it in or on the brown rustic ceramic bowl'	[task_sampler.py: 1136]
+05/25 10:26:03 INFO: [Worker 0] Worker 0 house 101 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 10:26:03 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 10:26:04 WARNING: [Worker 0] Could not find object objacollar_eb320910987847f0b361c8c1936d9574_1_0_5 in scene	[object_manager.py: 1238]
+05/25 10:26:04 WARNING: [Worker 0] Could not find object soapdispenser_4d425f15f8385d9b5381f2b606372c15_1_0_5 in scene	[object_manager.py: 1238]
+05/25 10:39:13 INFO: [Worker 0] Worker 0 house 101 episode 0 object objacabinethinge_7c01ff16582a44b99ff7bc6bd4f43eea_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 10:39:18 INFO: [Worker 0] Batching and saving trajectory data for house_101: 1 episodes	[pipeline.py: 233]
+05/25 10:39:18 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 10:39:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 10:39:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_101	[save_utils.py: 703]
+05/25 10:39:22 INFO: [Worker 0] Successfully saved trajectory data for house_101 in 3.99s (batch: 3.84s, save: 0.15s)	[pipeline.py: 280]
+05/25 10:39:23 WARNING: [Worker 0] No trajectory data to save for house_101	[pipeline.py: 229]
+05/25 10:39:23 INFO: [Worker 0] Worker 0 completed house 101: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 10:39:23 INFO: [Worker 0] Worker 0 starting house 143 (index 1/112)	[pipeline.py: 473]
+05/25 10:39:23 INFO: [Worker 0] Loaded 1 episodes for house 143 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 10:39:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 10:39:23 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/37d330a69f964e4689d8f4b57faf89f5	[json_eval_task_sampler.py: 648]
+05/25 10:39:23 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/f42af504c27649c78412bafd25665e46	[json_eval_task_sampler.py: 648]
+05/25 10:39:23 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/1e23d9b649a643528ce00de750e858de	[json_eval_task_sampler.py: 648]
+05/25 10:39:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_143_ceiling.xml	[task_sampler.py: 797]
+05/25 10:39:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=143, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 10:39:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 10:39:26 INFO: [Worker 0] randomize_scene: Setting poses for 14 objects	[json_eval_task_sampler.py: 686]
+05/25 10:39:26 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 10:39:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 10:39:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 10:39:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 10:39:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 10:39:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 10:39:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 10:39:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 10:39:26 INFO: [Worker 0] Sampled task 'Pick up the blue electric fly swatter with handle and place it in or on the pink geometric pattern box'	[task_sampler.py: 1136]
+05/25 10:39:26 INFO: [Worker 0] Worker 0 house 143 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 10:39:26 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 10:39:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 10:43:20 INFO: [Worker 0] Worker 0 house 143 episode 0 object objaelectricflyswatter_6655a2fa5e984c9cab631a7f94fba275_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 10:43:24 INFO: [Worker 0] Batching and saving trajectory data for house_143: 1 episodes	[pipeline.py: 233]
+05/25 10:43:24 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 10:43:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 10:43:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_143	[save_utils.py: 703]
+05/25 10:43:28 INFO: [Worker 0] Successfully saved trajectory data for house_143 in 3.23s (batch: 3.03s, save: 0.20s)	[pipeline.py: 280]
+05/25 10:43:28 WARNING: [Worker 0] No trajectory data to save for house_143	[pipeline.py: 229]
+05/25 10:43:28 INFO: [Worker 0] Worker 0 completed house 143: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 10:43:28 INFO: [Worker 0] Worker 0 starting house 226 (index 2/112)	[pipeline.py: 473]
+05/25 10:43:28 INFO: [Worker 0] Loaded 1 episodes for house 226 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 10:43:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 10:43:30 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ce448005340241c8acd2034b72cd09f8	[json_eval_task_sampler.py: 648]
+05/25 10:43:30 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d318587cfc624b18b52a3a7fb7124373	[json_eval_task_sampler.py: 648]
+05/25 10:43:30 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/937044a40c3845bf88639056005b8a75	[json_eval_task_sampler.py: 648]
+05/25 10:43:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_226_ceiling.xml	[task_sampler.py: 797]
+05/25 10:43:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=226, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 10:43:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 10:43:34 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects	[json_eval_task_sampler.py: 686]
+05/25 10:43:34 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 10:43:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 10:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 10:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 10:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 10:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 10:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 10:43:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 10:43:34 INFO: [Worker 0] Sampled task 'Pick up the dark ceramic bowl and place it in or on the hand-painted insect bowl'	[task_sampler.py: 1136]
+05/25 10:43:34 INFO: [Worker 0] Worker 0 house 226 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 10:43:34 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 10:43:34 WARNING: [Worker 0] Could not find object objamodelmissile_a23fe608e61e45e2a07f60da5bd2d2be_1_0_4 in scene	[object_manager.py: 1238]
+05/25 10:43:34 WARNING: [Worker 0] Could not find object objatextsculpture_dcebd1ff537a4260925a893469d24879_1_0_4 in scene	[object_manager.py: 1238]
+05/25 10:43:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 10:48:44 INFO: [Worker 0] Worker 0 house 226 episode 0 object objaceramicbowl_ea0712864c254d56ba5dc356a0cdee0b_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 10:48:49 INFO: [Worker 0] Batching and saving trajectory data for house_226: 1 episodes	[pipeline.py: 233]
+05/25 10:48:49 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 10:48:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 10:48:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_226	[save_utils.py: 703]
+05/25 10:48:53 INFO: [Worker 0] Successfully saved trajectory data for house_226 in 4.10s (batch: 3.99s, save: 0.11s)	[pipeline.py: 280]
+05/25 10:48:53 WARNING: [Worker 0] No trajectory data to save for house_226	[pipeline.py: 229]
+05/25 10:48:53 INFO: [Worker 0] Worker 0 completed house 226: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 10:48:53 INFO: [Worker 0] Worker 0 starting house 278 (index 3/112)	[pipeline.py: 473]
+05/25 10:48:53 INFO: [Worker 0] Loaded 1 episodes for house 278 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 10:48:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 10:48:54 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/65e992e1326c4615bdada49b02005e16	[json_eval_task_sampler.py: 648]
+05/25 10:48:54 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0cb14e8a04de4c39ac8714a98fba9883	[json_eval_task_sampler.py: 648]
+05/25 10:48:54 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e5c6cae2c71b45fe8fee9657af246c2c	[json_eval_task_sampler.py: 648]
+05/25 10:48:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_278_ceiling.xml	[task_sampler.py: 797]
+05/25 10:48:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=278, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 10:48:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 10:48:56 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects	[json_eval_task_sampler.py: 686]
+05/25 10:48:56 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 10:48:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 10:48:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 10:48:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 10:48:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 10:48:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 10:48:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 10:48:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 10:48:56 INFO: [Worker 0] Sampled task 'Pick up the baked goods and place it in or on the organic bowl with face'	[task_sampler.py: 1136]
+05/25 10:48:56 INFO: [Worker 0] Worker 0 house 278 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 10:48:57 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 10:55:58 INFO: [Worker 0] Worker 0 house 278 episode 0 object objapastry_7fda2ce0924e4628be50bb75701ba41c_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 10:56:02 INFO: [Worker 0] Batching and saving trajectory data for house_278: 1 episodes	[pipeline.py: 233]
+05/25 10:56:02 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 10:56:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 10:56:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_278	[save_utils.py: 703]
+05/25 10:56:06 INFO: [Worker 0] Successfully saved trajectory data for house_278 in 3.46s (batch: 3.01s, save: 0.45s)	[pipeline.py: 280]
+05/25 10:56:07 WARNING: [Worker 0] No trajectory data to save for house_278	[pipeline.py: 229]
+05/25 10:56:07 INFO: [Worker 0] Worker 0 completed house 278: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 10:56:07 INFO: [Worker 0] Worker 0 starting house 321 (index 4/112)	[pipeline.py: 473]
+05/25 10:56:07 INFO: [Worker 0] Loaded 1 episodes for house 321 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 10:56:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 10:56:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/592fc966e1de425cb6ad1982dfe6dda1	[json_eval_task_sampler.py: 648]
+05/25 10:56:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e12c29eb1cee488498343a20c503ed21	[json_eval_task_sampler.py: 648]
+05/25 10:56:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/65e992e1326c4615bdada49b02005e16	[json_eval_task_sampler.py: 648]
+05/25 10:56:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_321_ceiling.xml	[task_sampler.py: 797]
+05/25 10:56:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=321, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 10:56:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 10:56:14 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects	[json_eval_task_sampler.py: 686]
+05/25 10:56:14 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 10:56:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 10:56:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 10:56:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 10:56:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 10:56:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 10:56:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 10:56:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 10:56:14 INFO: [Worker 0] Sampled task 'Pick up the hand model and place it in or on the round dark stone bowl'	[task_sampler.py: 1136]
+05/25 10:56:14 INFO: [Worker 0] Worker 0 house 321 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 10:56:14 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 10:56:16 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 11:01:29 INFO: [Worker 0] Worker 0 house 321 episode 0 object objahandmodel_68256e3205da4eb9a4308b477d0ac5d0_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 11:01:34 INFO: [Worker 0] Batching and saving trajectory data for house_321: 1 episodes	[pipeline.py: 233]
+05/25 11:01:34 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:01:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:01:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_321	[save_utils.py: 703]
+05/25 11:01:37 INFO: [Worker 0] Successfully saved trajectory data for house_321 in 3.51s (batch: 3.27s, save: 0.25s)	[pipeline.py: 280]
+05/25 11:01:38 WARNING: [Worker 0] No trajectory data to save for house_321	[pipeline.py: 229]
+05/25 11:01:38 INFO: [Worker 0] Worker 0 completed house 321: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:01:38 INFO: [Worker 0] Worker 0 starting house 372 (index 5/112)	[pipeline.py: 473]
+05/25 11:01:38 INFO: [Worker 0] Loaded 1 episodes for house 372 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 11:01:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 11:01:42 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9ed70e7516894535a9e208904f8db364	[json_eval_task_sampler.py: 648]
+05/25 11:01:42 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/55bd2652583048adb5f261974f28b134	[json_eval_task_sampler.py: 648]
+05/25 11:01:42 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/53c885e05492439cace4cc626fec00cc	[json_eval_task_sampler.py: 648]
+05/25 11:01:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_372_ceiling.xml	[task_sampler.py: 797]
+05/25 11:01:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=372, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:01:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:01:48 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects	[json_eval_task_sampler.py: 686]
+05/25 11:01:48 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:01:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:01:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:01:48 INFO: [Worker 0] Sampled task 'Pick up the golden star badge and place it in or on the rustic shallow clay bowl'	[task_sampler.py: 1136]
+05/25 11:01:48 INFO: [Worker 0] Worker 0 house 372 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:01:48 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:01:49 WARNING: [Worker 0] Could not find object objaminiaturecastletower_a08a00d32f694f219170f6867cbc7d46_1_0_7 in scene	[object_manager.py: 1238]
+05/25 11:01:49 WARNING: [Worker 0] Could not find object objasandal_48b073d405e5472d9fd7e0dbe45c973e_1_0_7 in scene	[object_manager.py: 1238]
+05/25 11:01:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 11:08:39 INFO: [Worker 0] Worker 0 house 372 episode 0 object objadecorativebadge_8a1845ddd6fa4a2e8102c30675ff11e5_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 11:08:45 INFO: [Worker 0] Batching and saving trajectory data for house_372: 1 episodes	[pipeline.py: 233]
+05/25 11:08:45 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:08:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:08:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_372	[save_utils.py: 703]
+05/25 11:08:50 INFO: [Worker 0] Successfully saved trajectory data for house_372 in 5.13s (batch: 4.96s, save: 0.17s)	[pipeline.py: 280]
+05/25 11:08:51 WARNING: [Worker 0] No trajectory data to save for house_372	[pipeline.py: 229]
+05/25 11:08:51 INFO: [Worker 0] Worker 0 completed house 372: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:08:51 INFO: [Worker 0] Worker 0 starting house 379 (index 6/112)	[pipeline.py: 473]
+05/25 11:08:51 INFO: [Worker 0] Loaded 2 episodes for house 379 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 11:08:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 11:08:56 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_18	[json_eval_task_sampler.py: 648]
+05/25 11:08:56 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_7	[json_eval_task_sampler.py: 648]
+05/25 11:08:56 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_2	[json_eval_task_sampler.py: 648]
+05/25 11:09:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_379_ceiling.xml	[task_sampler.py: 797]
+05/25 11:09:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=379, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:09:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:09:04 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects	[json_eval_task_sampler.py: 686]
+05/25 11:09:04 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:09:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:09:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:09:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:09:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:09:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:09:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:09:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:09:04 INFO: [Worker 0] Sampled task 'Pick up the flat metal bottle opener and place it in or on the matte dark gray bowl'	[task_sampler.py: 1136]
+05/25 11:09:04 INFO: [Worker 0] Worker 0 house 379 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 11:09:05 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:09:05 WARNING: [Worker 0] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_5 in scene	[object_manager.py: 1238]
+05/25 11:09:05 WARNING: [Worker 0] Could not find object objawoodenstick_1bd5fecf74bf4cdb987da156d2c0ac96_1_0_7 in scene	[object_manager.py: 1238]
+05/25 11:09:05 WARNING: [Worker 0] Could not find object objawoodenstick_1bd5fecf74bf4cdb987da156d2c0ac96_2_0_7 in scene	[object_manager.py: 1238]
+05/25 11:16:24 INFO: [Worker 0] Worker 0 house 379 episode 0 object objabottleopener_c7783daa48a6466a9ac5f43e8f86db54_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 11:16:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 11:16:32 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_18	[json_eval_task_sampler.py: 648]
+05/25 11:16:32 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_7	[json_eval_task_sampler.py: 648]
+05/25 11:16:32 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_2	[json_eval_task_sampler.py: 648]
+05/25 11:16:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_379_ceiling.xml	[task_sampler.py: 797]
+05/25 11:16:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=379, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:16:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:16:38 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects	[json_eval_task_sampler.py: 686]
+05/25 11:16:38 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:16:38 INFO: [Worker 0] Sampled task 'Pick up the green electronic rectangular display module and place it in or on the translucent white smooth plastic bowl'	[task_sampler.py: 1136]
+05/25 11:16:38 INFO: [Worker 0] Worker 0 house 379 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 11:16:38 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:16:39 WARNING: [Worker 0] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_5 in scene	[object_manager.py: 1238]
+05/25 11:16:39 WARNING: [Worker 0] Could not find object objawoodenstick_1bd5fecf74bf4cdb987da156d2c0ac96_1_0_7 in scene	[object_manager.py: 1238]
+05/25 11:16:39 WARNING: [Worker 0] Could not find object objawoodenstick_1bd5fecf74bf4cdb987da156d2c0ac96_2_0_7 in scene	[object_manager.py: 1238]
+05/25 11:16:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 11:23:04 INFO: [Worker 0] Worker 0 house 379 episode 1 object objaelectronicdisplaymodule_37d29ad966cc4f58b81754088e774bd7_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 11:23:09 INFO: [Worker 0] Batching and saving trajectory data for house_379: 2 episodes	[pipeline.py: 233]
+05/25 11:23:09 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:23:12 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:23:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:23:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:23:16 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_379	[save_utils.py: 703]
+05/25 11:23:16 INFO: [Worker 0] Successfully saved trajectory data for house_379 in 7.30s (batch: 6.97s, save: 0.33s)	[pipeline.py: 280]
+05/25 11:23:17 WARNING: [Worker 0] No trajectory data to save for house_379	[pipeline.py: 229]
+05/25 11:23:17 INFO: [Worker 0] Worker 0 completed house 379: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 11:23:17 INFO: [Worker 0] Worker 0 starting house 448 (index 7/112)	[pipeline.py: 473]
+05/25 11:23:17 INFO: [Worker 0] Loaded 1 episodes for house 448 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 11:23:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 11:23:18 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_6	[json_eval_task_sampler.py: 648]
+05/25 11:23:19 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/cfe3c9eed1554f59ad7756e27d97c667	[json_eval_task_sampler.py: 648]
+05/25 11:23:19 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2b2f2afe691143b1a0d9c56141b028f9	[json_eval_task_sampler.py: 648]
+05/25 11:23:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_448_ceiling.xml	[task_sampler.py: 797]
+05/25 11:23:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=448, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:23:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:23:21 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects	[json_eval_task_sampler.py: 686]
+05/25 11:23:22 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:23:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:23:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:23:22 INFO: [Worker 0] Sampled task 'Pick up the colorful fish and place it in or on the round ceramic dish with handle'	[task_sampler.py: 1136]
+05/25 11:23:22 INFO: [Worker 0] Worker 0 house 448 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:23:22 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:23:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 11:29:22 INFO: [Worker 0] Worker 0 house 448 episode 0 object objadecorativefishsculpture_0eae7d168a07489988a4a2690ae34012_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 11:29:27 INFO: [Worker 0] Batching and saving trajectory data for house_448: 1 episodes	[pipeline.py: 233]
+05/25 11:29:27 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:29:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:29:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_448	[save_utils.py: 703]
+05/25 11:29:32 INFO: [Worker 0] Successfully saved trajectory data for house_448 in 4.86s (batch: 4.71s, save: 0.16s)	[pipeline.py: 280]
+05/25 11:29:33 WARNING: [Worker 0] No trajectory data to save for house_448	[pipeline.py: 229]
+05/25 11:29:33 INFO: [Worker 0] Worker 0 completed house 448: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:29:33 INFO: [Worker 0] Worker 0 starting house 487 (index 8/112)	[pipeline.py: 473]
+05/25 11:29:33 INFO: [Worker 0] Loaded 1 episodes for house 487 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 11:29:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 11:29:36 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_20	[json_eval_task_sampler.py: 648]
+05/25 11:29:36 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c7df0f7671d34fb9817d37067072f9ab	[json_eval_task_sampler.py: 648]
+05/25 11:29:36 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9e167f4b5fcd446e8ff3c4ca5b257286	[json_eval_task_sampler.py: 648]
+05/25 11:29:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_487_ceiling.xml	[task_sampler.py: 797]
+05/25 11:29:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=487, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:29:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:29:44 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects	[json_eval_task_sampler.py: 686]
+05/25 11:29:44 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:29:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:29:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:29:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:29:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:29:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:29:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:29:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:29:44 INFO: [Worker 0] Sampled task 'Pick up the colorful geometric molecular model and place it in or on the shallow round bowl with feet'	[task_sampler.py: 1136]
+05/25 11:29:44 INFO: [Worker 0] Worker 0 house 487 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:29:44 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:41:07 INFO: [Worker 0] Worker 0 house 487 episode 0 object objaeducationaltoy_3d86ad3a43be4e7faf00336577c4edd3_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 11:41:12 INFO: [Worker 0] Batching and saving trajectory data for house_487: 1 episodes	[pipeline.py: 233]
+05/25 11:41:12 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:41:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:41:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_487	[save_utils.py: 703]
+05/25 11:41:17 INFO: [Worker 0] Successfully saved trajectory data for house_487 in 4.53s (batch: 4.19s, save: 0.33s)	[pipeline.py: 280]
+05/25 11:41:18 WARNING: [Worker 0] No trajectory data to save for house_487	[pipeline.py: 229]
+05/25 11:41:18 INFO: [Worker 0] Worker 0 completed house 487: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:41:18 INFO: [Worker 0] Worker 0 starting house 515 (index 9/112)	[pipeline.py: 473]
+05/25 11:41:18 INFO: [Worker 0] Loaded 1 episodes for house 515 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 11:41:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 11:41:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f8b3d867de194e6cb587c89d54ed8f0e	[json_eval_task_sampler.py: 648]
+05/25 11:41:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/934bd78c490140198db542aee7f765fa	[json_eval_task_sampler.py: 648]
+05/25 11:41:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/472cceee5a224ff6933e7baf31d16641	[json_eval_task_sampler.py: 648]
+05/25 11:41:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_515_ceiling.xml	[task_sampler.py: 797]
+05/25 11:41:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=515, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:41:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:41:30 INFO: [Worker 0] randomize_scene: Setting poses for 94 objects	[json_eval_task_sampler.py: 686]
+05/25 11:41:30 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:41:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:41:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:41:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:41:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:41:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:41:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:41:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:41:30 INFO: [Worker 0] Sampled task 'Pick up the gray camcorder and place it in or on the small beige bowl'	[task_sampler.py: 1136]
+05/25 11:41:30 INFO: [Worker 0] Worker 0 house 515 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:41:30 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:41:31 WARNING: [Worker 0] Could not find object lettuce_61b81abf4afba05964c24bd32c8b3a2d_1_0_2 in scene	[object_manager.py: 1238]
+05/25 11:41:31 WARNING: [Worker 0] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_5 in scene	[object_manager.py: 1238]
+05/25 11:51:29 INFO: [Worker 0] Worker 0 house 515 episode 0 object objacamcorder_54c2ec44421f4c9faacd026b6aba1873_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 11:51:33 INFO: [Worker 0] Batching and saving trajectory data for house_515: 1 episodes	[pipeline.py: 233]
+05/25 11:51:33 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:51:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:51:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_515	[save_utils.py: 703]
+05/25 11:51:36 INFO: [Worker 0] Successfully saved trajectory data for house_515 in 2.93s (batch: 2.78s, save: 0.15s)	[pipeline.py: 280]
+05/25 11:51:37 WARNING: [Worker 0] No trajectory data to save for house_515	[pipeline.py: 229]
+05/25 11:51:37 INFO: [Worker 0] Worker 0 completed house 515: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:51:37 INFO: [Worker 0] Worker 0 starting house 1011 (index 10/112)	[pipeline.py: 473]
+05/25 11:51:37 INFO: [Worker 0] Loaded 1 episodes for house 1011 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 11:51:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 11:51:37 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f9561598da77463f9eb6fecd4bc301b5	[json_eval_task_sampler.py: 648]
+05/25 11:51:37 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/4b5c2f816e814756960ac3be616fd29d	[json_eval_task_sampler.py: 648]
+05/25 11:51:37 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/af624cab76c04bec86f0c928207797d8	[json_eval_task_sampler.py: 648]
+05/25 11:51:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1011_ceiling.xml	[task_sampler.py: 797]
+05/25 11:51:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1011, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:51:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:51:39 INFO: [Worker 0] randomize_scene: Setting poses for 18 objects	[json_eval_task_sampler.py: 686]
+05/25 11:51:39 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:51:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:51:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:51:39 INFO: [Worker 0] Sampled task 'Pick up the polished adjustable metallic cabinet hinge and place it in or on the handmade rustic clay bowl'	[task_sampler.py: 1136]
+05/25 11:51:39 INFO: [Worker 0] Worker 0 house 1011 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:51:39 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:51:41 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 11:55:27 INFO: [Worker 0] Worker 0 house 1011 episode 0 object objacabinethinge_7c01ff16582a44b99ff7bc6bd4f43eea_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 11:55:31 INFO: [Worker 0] Batching and saving trajectory data for house_1011: 1 episodes	[pipeline.py: 233]
+05/25 11:55:31 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:55:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:55:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1011	[save_utils.py: 703]
+05/25 11:55:34 INFO: [Worker 0] Successfully saved trajectory data for house_1011 in 3.17s (batch: 3.01s, save: 0.16s)	[pipeline.py: 280]
+05/25 11:55:35 WARNING: [Worker 0] No trajectory data to save for house_1011	[pipeline.py: 229]
+05/25 11:55:35 INFO: [Worker 0] Worker 0 completed house 1011: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:55:35 INFO: [Worker 0] Worker 0 starting house 1050 (index 11/112)	[pipeline.py: 473]
+05/25 11:55:35 INFO: [Worker 0] Loaded 1 episodes for house 1050 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 11:55:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 11:55:37 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/977c0bb0114e4728b7c6ccb89da913ec	[json_eval_task_sampler.py: 648]
+05/25 11:55:37 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2b66d433fad7419d994eb2b098293577	[json_eval_task_sampler.py: 648]
+05/25 11:55:37 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7754545bd7044b298506bb35b05578d5	[json_eval_task_sampler.py: 648]
+05/25 11:55:37 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 11:55:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1050_ceiling.xml	[task_sampler.py: 797]
+05/25 11:55:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1050, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:55:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:55:40 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects	[json_eval_task_sampler.py: 686]
+05/25 11:55:40 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:55:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:55:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:55:40 INFO: [Worker 0] Sampled task 'Pick up the card with pink bow and place it in or on the ceramic bowl with gradient'	[task_sampler.py: 1136]
+05/25 11:55:40 INFO: [Worker 0] Worker 0 house 1050 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:55:40 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:55:40 WARNING: [Worker 0] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_4 in scene	[object_manager.py: 1238]
+05/25 11:57:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 12:04:00 INFO: [Worker 0] Worker 0 house 1050 episode 0 object objadecorativecard_65c3c59dcda94798b4f95a1817325f33_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 12:04:05 INFO: [Worker 0] Batching and saving trajectory data for house_1050: 1 episodes	[pipeline.py: 233]
+05/25 12:04:05 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:04:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:04:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1050	[save_utils.py: 703]
+05/25 12:04:09 INFO: [Worker 0] Successfully saved trajectory data for house_1050 in 3.81s (batch: 3.56s, save: 0.24s)	[pipeline.py: 280]
+05/25 12:04:09 WARNING: [Worker 0] No trajectory data to save for house_1050	[pipeline.py: 229]
+05/25 12:04:09 INFO: [Worker 0] Worker 0 completed house 1050: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:04:09 INFO: [Worker 0] Worker 0 starting house 1084 (index 12/112)	[pipeline.py: 473]
+05/25 12:04:09 INFO: [Worker 0] Loaded 2 episodes for house 1084 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 12:04:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 12:04:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_29	[json_eval_task_sampler.py: 648]
+05/25 12:04:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fb56f8968a9c443897498a9ccf5c46d1	[json_eval_task_sampler.py: 648]
+05/25 12:04:11 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_18	[json_eval_task_sampler.py: 648]
+05/25 12:04:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1084_ceiling.xml	[task_sampler.py: 797]
+05/25 12:04:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1084, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:04:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:04:14 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects	[json_eval_task_sampler.py: 686]
+05/25 12:04:14 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:04:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:04:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:04:14 INFO: [Worker 0] Sampled task 'Pick up the classic brown leather dress shoe and place it in or on the matte dark gray bowl'	[task_sampler.py: 1136]
+05/25 12:04:14 INFO: [Worker 0] Worker 0 house 1084 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 12:04:14 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:04:14 WARNING: [Worker 0] Could not find object objasnackwrapper_f9c97ed4b92442e48fbc16b924ee6878_1_0_6 in scene	[object_manager.py: 1238]
+05/25 12:04:14 WARNING: [Worker 0] Could not find object objaceramicplate_3b15c410f87f42daa7e8cb5b5f74e3f1_1_0_6 in scene	[object_manager.py: 1238]
+05/25 12:06:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 12:11:04 INFO: [Worker 0] Worker 0 house 1084 episode 0 object objadressshoe_dc620e458adb44cdb9a0878e5a7e1630_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 12:11:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 12:11:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_29	[json_eval_task_sampler.py: 648]
+05/25 12:11:09 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fb56f8968a9c443897498a9ccf5c46d1	[json_eval_task_sampler.py: 648]
+05/25 12:11:09 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_18	[json_eval_task_sampler.py: 648]
+05/25 12:11:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1084_ceiling.xml	[task_sampler.py: 797]
+05/25 12:11:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1084, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:11:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:11:13 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects	[json_eval_task_sampler.py: 686]
+05/25 12:11:13 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:11:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:11:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:11:13 INFO: [Worker 0] Sampled task 'Pick up the red futuristic blaster and place it in or on the matte dark gray bowl'	[task_sampler.py: 1136]
+05/25 12:11:13 INFO: [Worker 0] Worker 0 house 1084 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 12:11:13 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:11:14 WARNING: [Worker 0] Could not find object objasnackwrapper_f9c97ed4b92442e48fbc16b924ee6878_1_0_6 in scene	[object_manager.py: 1238]
+05/25 12:11:14 WARNING: [Worker 0] Could not find object objaceramicplate_3b15c410f87f42daa7e8cb5b5f74e3f1_1_0_6 in scene	[object_manager.py: 1238]
+05/25 12:13:21 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 12:17:22 INFO: [Worker 0] Worker 0 house 1084 episode 1 object objatoyblaster_b72ce13805f24d729e6cbd54789a93a1_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 12:17:26 INFO: [Worker 0] Batching and saving trajectory data for house_1084: 2 episodes	[pipeline.py: 233]
+05/25 12:17:26 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:17:29 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:17:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:17:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:17:33 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1084	[save_utils.py: 703]
+05/25 12:17:33 INFO: [Worker 0] Successfully saved trajectory data for house_1084 in 6.72s (batch: 6.29s, save: 0.42s)	[pipeline.py: 280]
+05/25 12:17:34 WARNING: [Worker 0] No trajectory data to save for house_1084	[pipeline.py: 229]
+05/25 12:17:34 INFO: [Worker 0] Worker 0 completed house 1084: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 12:17:34 INFO: [Worker 0] Worker 0 starting house 1102 (index 13/112)	[pipeline.py: 473]
+05/25 12:17:34 INFO: [Worker 0] Loaded 1 episodes for house 1102 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 12:17:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 12:17:36 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_13	[json_eval_task_sampler.py: 648]
+05/25 12:17:36 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/7bcc0425058142c59255979a2b61f0d2	[json_eval_task_sampler.py: 648]
+05/25 12:17:36 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a6cfd144a62e446c92f0987fb81d584f	[json_eval_task_sampler.py: 648]
+05/25 12:17:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1102_ceiling.xml	[task_sampler.py: 797]
+05/25 12:17:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1102, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:17:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:17:40 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects	[json_eval_task_sampler.py: 686]
+05/25 12:17:41 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:17:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:17:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:17:41 INFO: [Worker 0] Sampled task 'Pick up the yellow tooth model with root and place it in or on the cylindrical metal container with black lid'	[task_sampler.py: 1136]
+05/25 12:17:41 INFO: [Worker 0] Worker 0 house 1102 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:17:41 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:17:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 12:22:20 INFO: [Worker 0] Worker 0 house 1102 episode 0 object objadentalmodel_ee71e282769c4d17b8d32c7b56aaf7cd_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 12:22:24 INFO: [Worker 0] Batching and saving trajectory data for house_1102: 1 episodes	[pipeline.py: 233]
+05/25 12:22:24 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:22:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:22:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1102	[save_utils.py: 703]
+05/25 12:22:28 INFO: [Worker 0] Successfully saved trajectory data for house_1102 in 3.32s (batch: 3.09s, save: 0.23s)	[pipeline.py: 280]
+05/25 12:22:29 WARNING: [Worker 0] No trajectory data to save for house_1102	[pipeline.py: 229]
+05/25 12:22:29 INFO: [Worker 0] Worker 0 completed house 1102: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:22:29 INFO: [Worker 0] Worker 0 starting house 1136 (index 14/112)	[pipeline.py: 473]
+05/25 12:22:29 INFO: [Worker 0] Loaded 1 episodes for house 1136 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 12:22:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 12:22:30 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ce448005340241c8acd2034b72cd09f8	[json_eval_task_sampler.py: 648]
+05/25 12:22:30 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e5c6cae2c71b45fe8fee9657af246c2c	[json_eval_task_sampler.py: 648]
+05/25 12:22:30 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/03fa6768245446f4bab866db37a6caec	[json_eval_task_sampler.py: 648]
+05/25 12:22:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1136_ceiling.xml	[task_sampler.py: 797]
+05/25 12:22:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1136, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:22:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:22:34 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects	[json_eval_task_sampler.py: 686]
+05/25 12:22:34 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:22:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:22:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:22:34 INFO: [Worker 0] Sampled task 'Pick up the white electrical outlet cover with sockets and place it in or on the ceramic bowl with rice'	[task_sampler.py: 1136]
+05/25 12:22:34 INFO: [Worker 0] Worker 0 house 1136 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:22:34 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:22:34 WARNING: [Worker 0] Could not find object objadecorativebranches_03af19ef7ec8447cba662debe4c7ed74_1_0_4 in scene	[object_manager.py: 1238]
+05/25 12:22:34 WARNING: [Worker 0] Could not find object laptop_db169b2db696f5f3309c1b601969bfb0_1_0_4 in scene	[object_manager.py: 1238]
+05/25 12:22:34 WARNING: [Worker 0] Could not find object objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_9 in scene	[object_manager.py: 1238]
+05/25 12:22:34 WARNING: [Worker 0] Could not find object objadecorativeartifact_736840eeb3154bcb91ddb67a221ae993_1_0_9 in scene	[object_manager.py: 1238]
+05/25 12:22:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 12:27:18 INFO: [Worker 0] Worker 0 house 1136 episode 0 object objaelectricaloutletcover_0e5e674706974836bf792c7f4ab0bb76_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 12:27:25 INFO: [Worker 0] Batching and saving trajectory data for house_1136: 1 episodes	[pipeline.py: 233]
+05/25 12:27:25 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:27:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:27:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1136	[save_utils.py: 703]
+05/25 12:27:30 INFO: [Worker 0] Successfully saved trajectory data for house_1136 in 5.00s (batch: 4.70s, save: 0.31s)	[pipeline.py: 280]
+05/25 12:27:31 WARNING: [Worker 0] No trajectory data to save for house_1136	[pipeline.py: 229]
+05/25 12:27:31 INFO: [Worker 0] Worker 0 completed house 1136: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:27:31 INFO: [Worker 0] Worker 0 starting house 1206 (index 15/112)	[pipeline.py: 473]
+05/25 12:27:31 INFO: [Worker 0] Loaded 1 episodes for house 1206 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 12:27:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 12:27:32 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/93ef7da87b1e43fbb47f3b26b927f777	[json_eval_task_sampler.py: 648]
+05/25 12:27:32 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b4f97bfa98234ac58b2991d6ac0a18a9	[json_eval_task_sampler.py: 648]
+05/25 12:27:32 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/408b385373564c16acda3224de7d2ec6	[json_eval_task_sampler.py: 648]
+05/25 12:27:32 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 12:27:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1206_ceiling.xml	[task_sampler.py: 797]
+05/25 12:27:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1206, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:27:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:27:36 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects	[json_eval_task_sampler.py: 686]
+05/25 12:27:36 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:27:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:27:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:27:36 INFO: [Worker 0] Sampled task 'Pick up the blue handheld radio and place it in or on the round ceramic bowl with floral patterns'	[task_sampler.py: 1136]
+05/25 12:27:36 INFO: [Worker 0] Worker 0 house 1206 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:27:37 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:27:37 WARNING: [Worker 0] Could not find object objagardenhoseconnector_bf765bb3a0824d8fb21121f299b44df4_1_0_6 in scene	[object_manager.py: 1238]
+05/25 12:27:37 WARNING: [Worker 0] Could not find object tomato_476e436539c70e8978e15a59750bfb92_1_0_6 in scene	[object_manager.py: 1238]
+05/25 12:27:37 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene	[object_manager.py: 1238]
+05/25 12:27:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 12:35:33 INFO: [Worker 0] Worker 0 house 1206 episode 0 object objahandheldradio_7deefc5ba2a74500b8c3e752933d4ace_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 12:35:40 INFO: [Worker 0] Batching and saving trajectory data for house_1206: 1 episodes	[pipeline.py: 233]
+05/25 12:35:40 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:35:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:35:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1206	[save_utils.py: 703]
+05/25 12:35:46 INFO: [Worker 0] Successfully saved trajectory data for house_1206 in 5.85s (batch: 5.39s, save: 0.46s)	[pipeline.py: 280]
+05/25 12:35:47 WARNING: [Worker 0] No trajectory data to save for house_1206	[pipeline.py: 229]
+05/25 12:35:47 INFO: [Worker 0] Worker 0 completed house 1206: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:35:47 INFO: [Worker 0] Worker 0 starting house 1256 (index 16/112)	[pipeline.py: 473]
+05/25 12:35:47 INFO: [Worker 0] Loaded 1 episodes for house 1256 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 12:35:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 12:35:49 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/72f752cce53e4942be8e27429ceaf83a	[json_eval_task_sampler.py: 648]
+05/25 12:35:49 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a5b29a29005041dca3d8bfbc8c57c7e2	[json_eval_task_sampler.py: 648]
+05/25 12:35:50 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/4c75946736424e5397f4eadd336e0bf1	[json_eval_task_sampler.py: 648]
+05/25 12:35:50 INFO: [Worker 0] Deleted 2 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 12:35:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1256_ceiling.xml	[task_sampler.py: 797]
+05/25 12:35:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1256, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:35:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:35:55 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects	[json_eval_task_sampler.py: 686]
+05/25 12:35:55 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:35:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:35:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:35:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:35:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:35:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:35:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:35:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:35:55 INFO: [Worker 0] Sampled task 'Pick up the geometric blue butterfly and place it in or on the rustic bowl'	[task_sampler.py: 1136]
+05/25 12:35:55 INFO: [Worker 0] Worker 0 house 1256 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:35:55 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:35:56 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene	[object_manager.py: 1238]
+05/25 12:35:56 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_2_0_7 in scene	[object_manager.py: 1238]
+05/25 12:39:47 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 12:45:47 INFO: [Worker 0] Worker 0 house 1256 episode 0 object objadecorativebutterfly_a6073d8c8b454928bad247c294a57416_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 12:45:52 INFO: [Worker 0] Batching and saving trajectory data for house_1256: 1 episodes	[pipeline.py: 233]
+05/25 12:45:52 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:45:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:45:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1256	[save_utils.py: 703]
+05/25 12:45:56 INFO: [Worker 0] Successfully saved trajectory data for house_1256 in 3.72s (batch: 3.56s, save: 0.16s)	[pipeline.py: 280]
+05/25 12:45:56 WARNING: [Worker 0] No trajectory data to save for house_1256	[pipeline.py: 229]
+05/25 12:45:56 INFO: [Worker 0] Worker 0 completed house 1256: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:45:56 INFO: [Worker 0] Worker 0 starting house 1272 (index 17/112)	[pipeline.py: 473]
+05/25 12:45:56 INFO: [Worker 0] Loaded 2 episodes for house 1272 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 12:45:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 12:45:58 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/937044a40c3845bf88639056005b8a75	[json_eval_task_sampler.py: 648]
+05/25 12:45:58 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bfcfd4c7bfa649259e047eb92e6a5c31	[json_eval_task_sampler.py: 648]
+05/25 12:45:58 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/03fa6768245446f4bab866db37a6caec	[json_eval_task_sampler.py: 648]
+05/25 12:46:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1272_ceiling.xml	[task_sampler.py: 797]
+05/25 12:46:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1272, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:46:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:46:03 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects	[json_eval_task_sampler.py: 686]
+05/25 12:46:03 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:46:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:46:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:46:03 INFO: [Worker 0] Sampled task 'Pick up the black skull card and place it in or on the white ceramic bowl with handle'	[task_sampler.py: 1136]
+05/25 12:46:03 INFO: [Worker 0] Worker 0 house 1272 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 12:46:03 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:46:04 WARNING: [Worker 0] Could not find object objashoe_83fbd3e9d92b42a1857c073e80aa208c_1_0_3 in scene	[object_manager.py: 1238]
+05/25 12:46:04 WARNING: [Worker 0] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_3 in scene	[object_manager.py: 1238]
+05/25 12:46:05 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 12:52:06 INFO: [Worker 0] Worker 0 house 1272 episode 0 object objaplayingcard_dbdcf0441e0e442b912c0b47703eb4fc_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 12:52:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 12:52:14 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/937044a40c3845bf88639056005b8a75	[json_eval_task_sampler.py: 648]
+05/25 12:52:14 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bfcfd4c7bfa649259e047eb92e6a5c31	[json_eval_task_sampler.py: 648]
+05/25 12:52:14 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/03fa6768245446f4bab866db37a6caec	[json_eval_task_sampler.py: 648]
+05/25 12:52:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1272_ceiling.xml	[task_sampler.py: 797]
+05/25 12:52:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1272, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:52:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:52:19 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects	[json_eval_task_sampler.py: 686]
+05/25 12:52:19 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:52:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:52:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:52:20 INFO: [Worker 0] Sampled task 'Pick up the rustic dark ceramic bowl and place it in or on the ceramic bowl filled with rice and peas'	[task_sampler.py: 1136]
+05/25 12:52:20 INFO: [Worker 0] Worker 0 house 1272 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 12:52:20 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:52:20 WARNING: [Worker 0] Could not find object objashoe_83fbd3e9d92b42a1857c073e80aa208c_1_0_3 in scene	[object_manager.py: 1238]
+05/25 12:52:20 WARNING: [Worker 0] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_3 in scene	[object_manager.py: 1238]
+05/25 12:52:22 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 12:56:36 INFO: [Worker 0] Worker 0 house 1272 episode 1 object objaceramicbowl_ea0712864c254d56ba5dc356a0cdee0b_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 12:56:40 INFO: [Worker 0] Batching and saving trajectory data for house_1272: 2 episodes	[pipeline.py: 233]
+05/25 12:56:40 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:56:44 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:56:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:56:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:56:47 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1272	[save_utils.py: 703]
+05/25 12:56:47 INFO: [Worker 0] Successfully saved trajectory data for house_1272 in 6.63s (batch: 6.37s, save: 0.26s)	[pipeline.py: 280]
+05/25 12:56:48 WARNING: [Worker 0] No trajectory data to save for house_1272	[pipeline.py: 229]
+05/25 12:56:48 INFO: [Worker 0] Worker 0 completed house 1272: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 12:56:48 INFO: [Worker 0] Worker 0 starting house 1341 (index 18/112)	[pipeline.py: 473]
+05/25 12:56:48 INFO: [Worker 0] Loaded 1 episodes for house 1341 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 12:56:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 12:56:48 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/976f5b6e9a1344628642051f680b176b	[json_eval_task_sampler.py: 648]
+05/25 12:56:48 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/9ed70e7516894535a9e208904f8db364	[json_eval_task_sampler.py: 648]
+05/25 12:56:48 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_24	[json_eval_task_sampler.py: 648]
+05/25 12:56:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1341_ceiling.xml	[task_sampler.py: 797]
+05/25 12:56:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1341, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:56:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:56:50 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects	[json_eval_task_sampler.py: 686]
+05/25 12:56:50 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:56:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:56:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:56:50 INFO: [Worker 0] Sampled task 'Pick up the rough brown wooden club and place it in or on the rustic shallow clay bowl terracotta'	[task_sampler.py: 1136]
+05/25 12:56:50 INFO: [Worker 0] Worker 0 house 1341 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:56:50 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:56:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 12:58:55 INFO: [Worker 0] Worker 0 house 1341 episode 0 object objaprimitivetool_4dfb6ac9b577431783a05825f9ffd8ff_1_0_6 completed with success=True	[pipeline.py: 1114]
+05/25 12:59:00 INFO: [Worker 0] Batching and saving trajectory data for house_1341: 1 episodes	[pipeline.py: 233]
+05/25 12:59:00 INFO: [Worker 0] Preparing episode data: 208 timesteps	[save_utils.py: 284]
+05/25 12:59:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:59:03 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1341	[save_utils.py: 703]
+05/25 12:59:03 INFO: [Worker 0] Successfully saved trajectory data for house_1341 in 3.01s (batch: 2.93s, save: 0.08s)	[pipeline.py: 280]
+05/25 12:59:03 WARNING: [Worker 0] No trajectory data to save for house_1341	[pipeline.py: 229]
+05/25 12:59:03 INFO: [Worker 0] Worker 0 completed house 1341: 1/1 successful episodes	[pipeline.py: 1243]
+05/25 12:59:03 INFO: [Worker 0] Worker 0 starting house 1403 (index 19/112)	[pipeline.py: 473]
+05/25 12:59:03 INFO: [Worker 0] Loaded 1 episodes for house 1403 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 12:59:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 12:59:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/16bfd987e11444ca9c065718d49f5877	[json_eval_task_sampler.py: 648]
+05/25 12:59:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a37c32fbdbbb4ab19c8b1cccc557f52d	[json_eval_task_sampler.py: 648]
+05/25 12:59:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d318587cfc624b18b52a3a7fb7124373	[json_eval_task_sampler.py: 648]
+05/25 12:59:05 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 12:59:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1403_ceiling.xml	[task_sampler.py: 797]
+05/25 12:59:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1403, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:59:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:59:09 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects	[json_eval_task_sampler.py: 686]
+05/25 12:59:09 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:59:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:59:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:59:09 INFO: [Worker 0] Sampled task 'Pick up the bird and place it in or on the bright insect design bowl'	[task_sampler.py: 1136]
+05/25 12:59:09 INFO: [Worker 0] Worker 0 house 1403 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:59:10 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:59:10 WARNING: [Worker 0] Could not find object objanaturalartifact_9eee2fa4d7674142814d6ce8315addc6_1_0_5 in scene	[object_manager.py: 1238]
+05/25 12:59:10 WARNING: [Worker 0] Could not find object objaspraycan_7223f972a1b44194abdc8f84b896086d_1_0_5 in scene	[object_manager.py: 1238]
+05/25 12:59:10 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene	[object_manager.py: 1238]
+05/25 13:04:03 INFO: [Worker 0] Worker 0 house 1403 episode 0 object objabirdfigurine_e6d59799a8ea41d581f323ba64edad33_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 13:04:07 INFO: [Worker 0] Batching and saving trajectory data for house_1403: 1 episodes	[pipeline.py: 233]
+05/25 13:04:07 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:04:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:04:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1403	[save_utils.py: 703]
+05/25 13:04:11 INFO: [Worker 0] Successfully saved trajectory data for house_1403 in 3.58s (batch: 3.43s, save: 0.15s)	[pipeline.py: 280]
+05/25 13:04:12 WARNING: [Worker 0] No trajectory data to save for house_1403	[pipeline.py: 229]
+05/25 13:04:12 INFO: [Worker 0] Worker 0 completed house 1403: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:04:12 INFO: [Worker 0] Worker 0 starting house 1506 (index 20/112)	[pipeline.py: 473]
+05/25 13:04:12 INFO: [Worker 0] Loaded 1 episodes for house 1506 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 13:04:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 13:04:13 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e2a8c3df68a94aea94050e01ad9aa918	[json_eval_task_sampler.py: 648]
+05/25 13:04:13 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a37c32fbdbbb4ab19c8b1cccc557f52d	[json_eval_task_sampler.py: 648]
+05/25 13:04:13 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4f97bfa98234ac58b2991d6ac0a18a9	[json_eval_task_sampler.py: 648]
+05/25 13:04:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1506_ceiling.xml	[task_sampler.py: 797]
+05/25 13:04:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1506, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:04:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:04:17 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects	[json_eval_task_sampler.py: 686]
+05/25 13:04:17 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:04:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:04:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:04:17 INFO: [Worker 0] Sampled task 'Pick up the black high heel sandal and place it in or on the round gray handmade bowl'	[task_sampler.py: 1136]
+05/25 13:04:17 INFO: [Worker 0] Worker 0 house 1506 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:04:17 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:04:19 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 13:12:57 INFO: [Worker 0] Worker 0 house 1506 episode 0 object objasandal_94195535f92b4f8aad6f93ea80736155_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 13:13:03 INFO: [Worker 0] Batching and saving trajectory data for house_1506: 1 episodes	[pipeline.py: 233]
+05/25 13:13:05 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:13:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:13:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1506	[save_utils.py: 703]
+05/25 13:13:09 INFO: [Worker 0] Successfully saved trajectory data for house_1506 in 4.41s (batch: 3.99s, save: 0.41s)	[pipeline.py: 280]
+05/25 13:13:10 WARNING: [Worker 0] No trajectory data to save for house_1506	[pipeline.py: 229]
+05/25 13:13:10 INFO: [Worker 0] Worker 0 completed house 1506: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:13:10 INFO: [Worker 0] Worker 0 starting house 1541 (index 21/112)	[pipeline.py: 473]
+05/25 13:13:10 INFO: [Worker 0] Loaded 1 episodes for house 1541 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 13:13:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 13:13:15 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/591a76b35b094562b9dec8ffa5b77387	[json_eval_task_sampler.py: 648]
+05/25 13:13:15 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/65e992e1326c4615bdada49b02005e16	[json_eval_task_sampler.py: 648]
+05/25 13:13:15 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/3b145885d881488887d90a98b3cde06f	[json_eval_task_sampler.py: 648]
+05/25 13:13:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1541_ceiling.xml	[task_sampler.py: 797]
+05/25 13:13:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1541, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:13:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:13:24 INFO: [Worker 0] randomize_scene: Setting poses for 100 objects	[json_eval_task_sampler.py: 686]
+05/25 13:13:24 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:13:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:13:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:13:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:13:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:13:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:13:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:13:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:13:24 INFO: [Worker 0] Sampled task 'Pick up the green soldering iron with tip and place it in or on the rugged textured gray rustic bowl'	[task_sampler.py: 1136]
+05/25 13:13:24 INFO: [Worker 0] Worker 0 house 1541 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:13:25 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:13:26 WARNING: [Worker 0] Could not find object objadecorativeplant_22e3b48962f944db8ed65e49e4f15c41_1_0_2 in scene	[object_manager.py: 1238]
+05/25 13:13:26 WARNING: [Worker 0] Could not find object bowl_c594624adbb2b4b72f24e12b1047e7af_1_0_2 in scene	[object_manager.py: 1238]
+05/25 13:25:58 INFO: [Worker 0] Worker 0 house 1541 episode 0 object objasolderingiron_546768c389ef4a85b633142fb0f49abb_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 13:26:03 INFO: [Worker 0] Batching and saving trajectory data for house_1541: 1 episodes	[pipeline.py: 233]
+05/25 13:26:03 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:26:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:26:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1541	[save_utils.py: 703]
+05/25 13:26:07 INFO: [Worker 0] Successfully saved trajectory data for house_1541 in 4.17s (batch: 3.87s, save: 0.30s)	[pipeline.py: 280]
+05/25 13:26:08 WARNING: [Worker 0] No trajectory data to save for house_1541	[pipeline.py: 229]
+05/25 13:26:08 INFO: [Worker 0] Worker 0 completed house 1541: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:26:08 INFO: [Worker 0] Worker 0 starting house 1586 (index 22/112)	[pipeline.py: 473]
+05/25 13:26:08 INFO: [Worker 0] Loaded 1 episodes for house 1586 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 13:26:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 13:26:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/DecorativeBox2	[json_eval_task_sampler.py: 648]
+05/25 13:26:09 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/03fa6768245446f4bab866db37a6caec	[json_eval_task_sampler.py: 648]
+05/25 13:26:09 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/659e6917a5b145fc88b46882fde3764d	[json_eval_task_sampler.py: 648]
+05/25 13:26:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1586_ceiling.xml	[task_sampler.py: 797]
+05/25 13:26:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1586, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:26:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:26:12 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects	[json_eval_task_sampler.py: 686]
+05/25 13:26:13 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:26:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:26:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:26:13 INFO: [Worker 0] Sampled task 'Pick up the black cleaning squeegee and place it in or on the rectangular dark teal storage box'	[task_sampler.py: 1136]
+05/25 13:26:13 INFO: [Worker 0] Worker 0 house 1586 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:26:13 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:26:13 WARNING: [Worker 0] Could not find object objatoytram_832be807365c49d5b6cb9844c4aa66f8_1_0_2 in scene	[object_manager.py: 1238]
+05/25 13:26:13 WARNING: [Worker 0] Could not find object alarmclock_85647c60207a07a17bbd65025ae5d72c_1_0_2 in scene	[object_manager.py: 1238]
+05/25 13:31:49 INFO: [Worker 0] Worker 0 house 1586 episode 0 object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 13:31:53 INFO: [Worker 0] Batching and saving trajectory data for house_1586: 1 episodes	[pipeline.py: 233]
+05/25 13:31:53 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:31:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:31:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1586	[save_utils.py: 703]
+05/25 13:31:55 INFO: [Worker 0] Successfully saved trajectory data for house_1586 in 2.92s (batch: 2.79s, save: 0.13s)	[pipeline.py: 280]
+05/25 13:31:56 WARNING: [Worker 0] No trajectory data to save for house_1586	[pipeline.py: 229]
+05/25 13:31:56 INFO: [Worker 0] Worker 0 completed house 1586: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:31:56 INFO: [Worker 0] Worker 0 starting house 1619 (index 23/112)	[pipeline.py: 473]
+05/25 13:31:56 INFO: [Worker 0] Loaded 1 episodes for house 1619 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 13:31:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 13:31:59 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_17	[json_eval_task_sampler.py: 648]
+05/25 13:31:59 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c2bd80794a3947238fe610f5733be9d2	[json_eval_task_sampler.py: 648]
+05/25 13:31:59 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0aab5f2a6f744c13bffef0fccf53c0e0	[json_eval_task_sampler.py: 648]
+05/25 13:32:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1619_ceiling.xml	[task_sampler.py: 797]
+05/25 13:32:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1619, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:32:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:32:06 INFO: [Worker 0] randomize_scene: Setting poses for 95 objects	[json_eval_task_sampler.py: 686]
+05/25 13:32:06 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:32:06 INFO: [Worker 0] Sampled task 'Pick up the dark square switch and place it in or on the simple round gray ceramic bowl'	[task_sampler.py: 1136]
+05/25 13:32:06 INFO: [Worker 0] Worker 0 house 1619 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:32:06 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:32:07 WARNING: [Worker 0] Could not find object objatelephonehandset_30c0f65d7388466ab0498040b04fb691_1_0_8 in scene	[object_manager.py: 1238]
+05/25 13:32:07 WARNING: [Worker 0] Could not find object vase_5e3958a310670d88fd4347b82c234dda_1_0_8 in scene	[object_manager.py: 1238]
+05/25 13:45:34 INFO: [Worker 0] Worker 0 house 1619 episode 0 object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 13:45:38 INFO: [Worker 0] Batching and saving trajectory data for house_1619: 1 episodes	[pipeline.py: 233]
+05/25 13:45:38 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:45:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:45:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1619	[save_utils.py: 703]
+05/25 13:45:41 INFO: [Worker 0] Successfully saved trajectory data for house_1619 in 3.07s (batch: 2.91s, save: 0.15s)	[pipeline.py: 280]
+05/25 13:45:42 WARNING: [Worker 0] No trajectory data to save for house_1619	[pipeline.py: 229]
+05/25 13:45:42 INFO: [Worker 0] Worker 0 completed house 1619: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:45:42 INFO: [Worker 0] Worker 0 starting house 1626 (index 24/112)	[pipeline.py: 473]
+05/25 13:45:42 INFO: [Worker 0] Loaded 2 episodes for house 1626 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 13:45:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 13:45:43 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f9561598da77463f9eb6fecd4bc301b5	[json_eval_task_sampler.py: 648]
+05/25 13:45:43 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b54b110dfccb4ea3a8f5a06cc65edc5a	[json_eval_task_sampler.py: 648]
+05/25 13:45:43 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9e167f4b5fcd446e8ff3c4ca5b257286	[json_eval_task_sampler.py: 648]
+05/25 13:45:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1626_ceiling.xml	[task_sampler.py: 797]
+05/25 13:45:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1626, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:45:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:45:48 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects	[json_eval_task_sampler.py: 686]
+05/25 13:45:48 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:45:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:45:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:45:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:45:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:45:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:45:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:45:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:45:49 INFO: [Worker 0] Sampled task 'Pick up the red glossy popsicle on wooden stick and place it in or on the gray bowl'	[task_sampler.py: 1136]
+05/25 13:45:49 INFO: [Worker 0] Worker 0 house 1626 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 13:45:49 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:45:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 13:52:19 INFO: [Worker 0] Worker 0 house 1626 episode 0 object objapopsicle_ea06ce6c179a4676a1e9329f3b7ee127_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 13:52:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 13:52:25 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f9561598da77463f9eb6fecd4bc301b5	[json_eval_task_sampler.py: 648]
+05/25 13:52:25 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b54b110dfccb4ea3a8f5a06cc65edc5a	[json_eval_task_sampler.py: 648]
+05/25 13:52:25 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9e167f4b5fcd446e8ff3c4ca5b257286	[json_eval_task_sampler.py: 648]
+05/25 13:52:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1626_ceiling.xml	[task_sampler.py: 797]
+05/25 13:52:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1626, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:52:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:52:31 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects	[json_eval_task_sampler.py: 686]
+05/25 13:52:31 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:52:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:52:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:52:31 INFO: [Worker 0] Sampled task 'Pick up the black electronic keypad with green display and place it in or on the glossy golden bowl'	[task_sampler.py: 1136]
+05/25 13:52:31 INFO: [Worker 0] Worker 0 house 1626 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 13:52:31 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:58:38 INFO: [Worker 0] Worker 0 house 1626 episode 1 object objakeypad_b90b37839bb949bba7c5a6ff2f49d1c8_2_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 13:58:42 INFO: [Worker 0] Batching and saving trajectory data for house_1626: 2 episodes	[pipeline.py: 233]
+05/25 13:58:42 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:58:46 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:58:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:58:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:58:50 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1626	[save_utils.py: 703]
+05/25 13:58:50 INFO: [Worker 0] Successfully saved trajectory data for house_1626 in 8.14s (batch: 7.71s, save: 0.43s)	[pipeline.py: 280]
+05/25 13:58:51 WARNING: [Worker 0] No trajectory data to save for house_1626	[pipeline.py: 229]
+05/25 13:58:51 INFO: [Worker 0] Worker 0 completed house 1626: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 13:58:51 INFO: [Worker 0] Worker 0 starting house 1666 (index 25/112)	[pipeline.py: 473]
+05/25 13:58:51 INFO: [Worker 0] Loaded 1 episodes for house 1666 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 13:58:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 13:58:54 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1e23d9b649a643528ce00de750e858de	[json_eval_task_sampler.py: 648]
+05/25 13:58:54 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/16bfd987e11444ca9c065718d49f5877	[json_eval_task_sampler.py: 648]
+05/25 13:58:54 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7d2737e16fcf4d40bc549521ba6a2d02	[json_eval_task_sampler.py: 648]
+05/25 13:58:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1666_ceiling.xml	[task_sampler.py: 797]
+05/25 13:58:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1666, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:58:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:58:59 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects	[json_eval_task_sampler.py: 686]
+05/25 13:58:59 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:58:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:58:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:58:59 INFO: [Worker 0] Sampled task 'Pick up the spring and place it in or on the earthy toned handmade ceramic bowl'	[task_sampler.py: 1136]
+05/25 13:58:59 INFO: [Worker 0] Worker 0 house 1666 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:59:00 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:59:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 14:09:49 INFO: [Worker 0] Worker 0 house 1666 episode 0 object objaspring_310f124af29745708b5393d7197d6fd5_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 14:09:55 INFO: [Worker 0] Batching and saving trajectory data for house_1666: 1 episodes	[pipeline.py: 233]
+05/25 14:09:55 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:10:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:10:00 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1666	[save_utils.py: 703]
+05/25 14:10:00 INFO: [Worker 0] Successfully saved trajectory data for house_1666 in 5.15s (batch: 4.84s, save: 0.31s)	[pipeline.py: 280]
+05/25 14:10:01 WARNING: [Worker 0] No trajectory data to save for house_1666	[pipeline.py: 229]
+05/25 14:10:01 INFO: [Worker 0] Worker 0 completed house 1666: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:10:01 INFO: [Worker 0] Worker 0 starting house 1702 (index 26/112)	[pipeline.py: 473]
+05/25 14:10:01 INFO: [Worker 0] Loaded 1 episodes for house 1702 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 14:10:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 14:10:06 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/675213cdb6eb4b8ab4ca565f2e7f4fc4	[json_eval_task_sampler.py: 648]
+05/25 14:10:06 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2b5fd8656f2b43cba43cb0e25a2cb838	[json_eval_task_sampler.py: 648]
+05/25 14:10:06 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_20	[json_eval_task_sampler.py: 648]
+05/25 14:10:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1702_ceiling.xml	[task_sampler.py: 797]
+05/25 14:10:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1702, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:10:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:10:13 INFO: [Worker 0] randomize_scene: Setting poses for 86 objects	[json_eval_task_sampler.py: 686]
+05/25 14:10:13 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:10:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:10:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:10:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:10:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:10:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:10:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:10:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:10:13 INFO: [Worker 0] Sampled task 'Pick up the colorful blocky toy ship with propeller and place it in or on the glossy blue round bowl'	[task_sampler.py: 1136]
+05/25 14:10:13 INFO: [Worker 0] Worker 0 house 1702 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:10:14 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:10:15 WARNING: [Worker 0] Could not find object objawoodencarving_78535f42f67c4314a3b4ac864f2a22bd_1_0_6 in scene	[object_manager.py: 1238]
+05/25 14:10:15 WARNING: [Worker 0] Could not find object objawristwatch_63e67b020cd349e89c3a506a513c1108_1_0_6 in scene	[object_manager.py: 1238]
+05/25 14:19:04 INFO: [Worker 0] Worker 0 house 1702 episode 0 object objatoyship_433a93ce5eae4dcf8d4cbec6457dc798_2_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 14:19:11 INFO: [Worker 0] Batching and saving trajectory data for house_1702: 1 episodes	[pipeline.py: 233]
+05/25 14:19:11 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:19:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:19:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1702	[save_utils.py: 703]
+05/25 14:19:16 INFO: [Worker 0] Successfully saved trajectory data for house_1702 in 5.03s (batch: 4.70s, save: 0.33s)	[pipeline.py: 280]
+05/25 14:19:17 WARNING: [Worker 0] No trajectory data to save for house_1702	[pipeline.py: 229]
+05/25 14:19:17 INFO: [Worker 0] Worker 0 completed house 1702: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:19:17 INFO: [Worker 0] Worker 0 starting house 1764 (index 27/112)	[pipeline.py: 473]
+05/25 14:19:17 INFO: [Worker 0] Loaded 1 episodes for house 1764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 14:19:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 14:19:20 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e776cc1b82d54420a55e924510c027c5	[json_eval_task_sampler.py: 648]
+05/25 14:19:20 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/3339ce474c3d4fb3a35952f476ca1e4a	[json_eval_task_sampler.py: 648]
+05/25 14:19:20 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a6cfd144a62e446c92f0987fb81d584f	[json_eval_task_sampler.py: 648]
+05/25 14:19:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1764_ceiling.xml	[task_sampler.py: 797]
+05/25 14:19:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1764, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:19:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:19:26 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects	[json_eval_task_sampler.py: 686]
+05/25 14:19:26 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:19:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:19:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:19:26 INFO: [Worker 0] Sampled task 'Pick up the white egg and place it in or on the oval pet bowl'	[task_sampler.py: 1136]
+05/25 14:19:26 INFO: [Worker 0] Worker 0 house 1764 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:19:27 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:19:27 WARNING: [Worker 0] Could not find object pillow_88441ccdce8826753b25ec07fed4a5e3_1_0_4 in scene	[object_manager.py: 1238]
+05/25 14:19:27 WARNING: [Worker 0] Could not find object laptop_de5352f233c6a9b4bf912bb08ebc2810_1_0_4 in scene	[object_manager.py: 1238]
+05/25 14:19:29 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 14:27:56 INFO: [Worker 0] Worker 0 house 1764 episode 0 object egg_768abcb7b01b3935a0261a8d2ef92b12_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 14:28:01 INFO: [Worker 0] Batching and saving trajectory data for house_1764: 1 episodes	[pipeline.py: 233]
+05/25 14:28:01 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:28:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:28:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1764	[save_utils.py: 703]
+05/25 14:28:05 INFO: [Worker 0] Successfully saved trajectory data for house_1764 in 4.08s (batch: 3.89s, save: 0.19s)	[pipeline.py: 280]
+05/25 14:28:06 WARNING: [Worker 0] No trajectory data to save for house_1764	[pipeline.py: 229]
+05/25 14:28:06 INFO: [Worker 0] Worker 0 completed house 1764: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:28:06 INFO: [Worker 0] Worker 0 starting house 1806 (index 28/112)	[pipeline.py: 473]
+05/25 14:28:06 INFO: [Worker 0] Loaded 1 episodes for house 1806 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 14:28:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 14:28:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_14	[json_eval_task_sampler.py: 648]
+05/25 14:28:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/8c419f6d0cbc4580a2e2b9d273969b97	[json_eval_task_sampler.py: 648]
+05/25 14:28:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_28	[json_eval_task_sampler.py: 648]
+05/25 14:28:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1806_ceiling.xml	[task_sampler.py: 797]
+05/25 14:28:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1806, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:28:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:28:12 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects	[json_eval_task_sampler.py: 686]
+05/25 14:28:12 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:28:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:28:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:28:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:28:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:28:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:28:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:28:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:28:12 INFO: [Worker 0] Sampled task 'Pick up the yellow kitchen knife with blue bolster and place it in or on the blue cooking pot with handles'	[task_sampler.py: 1136]
+05/25 14:28:12 INFO: [Worker 0] Worker 0 house 1806 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:28:12 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:28:14 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 14:36:42 INFO: [Worker 0] Worker 0 house 1806 episode 0 object knife_2933d9425c8587a7d4ddaae661ac7598_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 14:36:47 INFO: [Worker 0] Batching and saving trajectory data for house_1806: 1 episodes	[pipeline.py: 233]
+05/25 14:36:47 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:36:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:36:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1806	[save_utils.py: 703]
+05/25 14:36:50 INFO: [Worker 0] Successfully saved trajectory data for house_1806 in 3.55s (batch: 3.34s, save: 0.21s)	[pipeline.py: 280]
+05/25 14:36:51 WARNING: [Worker 0] No trajectory data to save for house_1806	[pipeline.py: 229]
+05/25 14:36:51 INFO: [Worker 0] Worker 0 completed house 1806: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:36:51 INFO: [Worker 0] Worker 0 starting house 1858 (index 29/112)	[pipeline.py: 473]
+05/25 14:36:51 INFO: [Worker 0] Loaded 1 episodes for house 1858 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 14:36:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 14:36:55 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/15607bdf52a64f81a7555de4cfad4029	[json_eval_task_sampler.py: 648]
+05/25 14:36:55 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e9670b35612840bd92354dd8936d3c6a	[json_eval_task_sampler.py: 648]
+05/25 14:36:55 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/592fc966e1de425cb6ad1982dfe6dda1	[json_eval_task_sampler.py: 648]
+05/25 14:37:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1858_ceiling.xml	[task_sampler.py: 797]
+05/25 14:37:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1858, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:37:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:37:01 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects	[json_eval_task_sampler.py: 686]
+05/25 14:37:01 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:37:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:37:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:37:01 INFO: [Worker 0] Sampled task 'Pick up the red pin marker with circular cutout and place it in or on the gray ceramic bowl'	[task_sampler.py: 1136]
+05/25 14:37:01 INFO: [Worker 0] Worker 0 house 1858 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:37:01 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:37:02 WARNING: [Worker 0] Could not find object objafantasyfish_326d55037a5b4727b3d5c119b31fb1d9_1_0_9 in scene	[object_manager.py: 1238]
+05/25 14:37:02 WARNING: [Worker 0] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_9 in scene	[object_manager.py: 1238]
+05/25 14:38:47 INFO: [Worker 0] Worker 0 house 1858 episode 0 object objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_7 completed with success=True	[pipeline.py: 1114]
+05/25 14:38:52 INFO: [Worker 0] Batching and saving trajectory data for house_1858: 1 episodes	[pipeline.py: 233]
+05/25 14:38:52 INFO: [Worker 0] Preparing episode data: 111 timesteps	[save_utils.py: 284]
+05/25 14:38:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:38:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1858	[save_utils.py: 703]
+05/25 14:38:55 INFO: [Worker 0] Successfully saved trajectory data for house_1858 in 3.62s (batch: 3.54s, save: 0.08s)	[pipeline.py: 280]
+05/25 14:38:56 WARNING: [Worker 0] No trajectory data to save for house_1858	[pipeline.py: 229]
+05/25 14:38:56 INFO: [Worker 0] Worker 0 completed house 1858: 1/1 successful episodes	[pipeline.py: 1243]
+05/25 14:38:56 INFO: [Worker 0] Worker 0 starting house 1904 (index 30/112)	[pipeline.py: 473]
+05/25 14:38:56 INFO: [Worker 0] Loaded 1 episodes for house 1904 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 14:38:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 14:38:58 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/21480103f9f44a52a5ee8bc37fb70bab	[json_eval_task_sampler.py: 648]
+05/25 14:38:58 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bcf3a4e49ee14eeda2faca7c7455161d	[json_eval_task_sampler.py: 648]
+05/25 14:38:58 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/372c4540cbe148b9bddcbbf1761b5e81	[json_eval_task_sampler.py: 648]
+05/25 14:39:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1904_ceiling.xml	[task_sampler.py: 797]
+05/25 14:39:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1904, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:39:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:39:03 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects	[json_eval_task_sampler.py: 686]
+05/25 14:39:03 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:39:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:39:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:39:03 INFO: [Worker 0] Sampled task 'Pick up the dark ribbed curved metallic band and place it in or on the glossy hemispherical ceramic bowl smooth'	[task_sampler.py: 1136]
+05/25 14:39:03 INFO: [Worker 0] Worker 0 house 1904 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:39:03 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:39:06 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 14:48:23 INFO: [Worker 0] Worker 0 house 1904 episode 0 object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 14:48:28 INFO: [Worker 0] Batching and saving trajectory data for house_1904: 1 episodes	[pipeline.py: 233]
+05/25 14:48:28 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:48:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:48:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1904	[save_utils.py: 703]
+05/25 14:48:32 INFO: [Worker 0] Successfully saved trajectory data for house_1904 in 4.49s (batch: 4.30s, save: 0.19s)	[pipeline.py: 280]
+05/25 14:48:33 WARNING: [Worker 0] No trajectory data to save for house_1904	[pipeline.py: 229]
+05/25 14:48:33 INFO: [Worker 0] Worker 0 completed house 1904: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:48:33 INFO: [Worker 0] Worker 0 starting house 1968 (index 31/112)	[pipeline.py: 473]
+05/25 14:48:33 INFO: [Worker 0] Loaded 1 episodes for house 1968 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 14:48:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 14:48:38 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/589cc33e26134e808392ac3e956ba868	[json_eval_task_sampler.py: 648]
+05/25 14:48:38 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_20	[json_eval_task_sampler.py: 648]
+05/25 14:48:38 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/659e6917a5b145fc88b46882fde3764d	[json_eval_task_sampler.py: 648]
+05/25 14:48:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1968_ceiling.xml	[task_sampler.py: 797]
+05/25 14:48:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1968, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:48:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:48:46 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects	[json_eval_task_sampler.py: 686]
+05/25 14:48:47 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:48:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:48:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:48:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:48:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:48:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:48:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:48:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:48:47 INFO: [Worker 0] Sampled task 'Pick up the medicinebox and place it in or on the round black and gray ashtray'	[task_sampler.py: 1136]
+05/25 14:48:47 INFO: [Worker 0] Worker 0 house 1968 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:48:47 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:48:48 WARNING: [Worker 0] Could not find object objacake_26db808ba93d477eac3038e1b67ae437_1_0_8 in scene	[object_manager.py: 1238]
+05/25 14:48:48 WARNING: [Worker 0] Could not find object Irishpotato_7795a332b8db05f190b6301274867e86_1_0_8 in scene	[object_manager.py: 1238]
+05/25 14:48:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 14:54:25 INFO: [Worker 0] Worker 0 house 1968 episode 0 object objamedicinebox_9e0ee77616e1442d9cab97bd81e11331_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 14:54:29 INFO: [Worker 0] Batching and saving trajectory data for house_1968: 1 episodes	[pipeline.py: 233]
+05/25 14:54:29 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:54:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:54:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1968	[save_utils.py: 703]
+05/25 14:54:33 INFO: [Worker 0] Successfully saved trajectory data for house_1968 in 3.59s (batch: 3.48s, save: 0.11s)	[pipeline.py: 280]
+05/25 14:54:34 WARNING: [Worker 0] No trajectory data to save for house_1968	[pipeline.py: 229]
+05/25 14:54:34 INFO: [Worker 0] Worker 0 completed house 1968: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:54:34 INFO: [Worker 0] Worker 0 starting house 2040 (index 32/112)	[pipeline.py: 473]
+05/25 14:54:34 INFO: [Worker 0] Loaded 1 episodes for house 2040 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 14:54:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 14:54:36 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_29	[json_eval_task_sampler.py: 648]
+05/25 14:54:36 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0564efdff76649c48c0c41b49dd6a25e	[json_eval_task_sampler.py: 648]
+05/25 14:54:36 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/f42af504c27649c78412bafd25665e46	[json_eval_task_sampler.py: 648]
+05/25 14:54:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2040_ceiling.xml	[task_sampler.py: 797]
+05/25 14:54:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2040, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:54:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:54:41 INFO: [Worker 0] randomize_scene: Setting poses for 69 objects	[json_eval_task_sampler.py: 686]
+05/25 14:54:41 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:54:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:54:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:54:41 INFO: [Worker 0] Sampled task 'Pick up the three-dimensional blocky pink year and place it in or on the gray bowl'	[task_sampler.py: 1136]
+05/25 14:54:41 INFO: [Worker 0] Worker 0 house 2040 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:54:42 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:57:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 15:04:56 INFO: [Worker 0] Worker 0 house 2040 episode 0 object objadecorativeobject_1e68d666fc3c430db5684f3f2f1d0b22_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 15:05:00 INFO: [Worker 0] Batching and saving trajectory data for house_2040: 1 episodes	[pipeline.py: 233]
+05/25 15:05:00 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:05:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:05:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2040	[save_utils.py: 703]
+05/25 15:05:04 INFO: [Worker 0] Successfully saved trajectory data for house_2040 in 3.32s (batch: 3.17s, save: 0.15s)	[pipeline.py: 280]
+05/25 15:05:05 WARNING: [Worker 0] No trajectory data to save for house_2040	[pipeline.py: 229]
+05/25 15:05:05 INFO: [Worker 0] Worker 0 completed house 2040: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:05:05 INFO: [Worker 0] Worker 0 starting house 2075 (index 33/112)	[pipeline.py: 473]
+05/25 15:05:05 INFO: [Worker 0] Loaded 1 episodes for house 2075 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 15:05:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 15:05:06 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/03fa6768245446f4bab866db37a6caec	[json_eval_task_sampler.py: 648]
+05/25 15:05:06 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/4b5c2f816e814756960ac3be616fd29d	[json_eval_task_sampler.py: 648]
+05/25 15:05:06 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/74f5c16ba1f5406ba30bda961f0c0bd1	[json_eval_task_sampler.py: 648]
+05/25 15:05:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2075_ceiling.xml	[task_sampler.py: 797]
+05/25 15:05:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2075, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:05:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:05:09 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects	[json_eval_task_sampler.py: 686]
+05/25 15:05:09 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:05:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:05:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:05:09 INFO: [Worker 0] Sampled task 'Pick up the white modular connector with clamps and place it in or on the ceramic bowl filled with rice and peas'	[task_sampler.py: 1136]
+05/25 15:05:09 INFO: [Worker 0] Worker 0 house 2075 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:05:09 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:05:10 WARNING: [Worker 0] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene	[object_manager.py: 1238]
+05/25 15:05:10 WARNING: [Worker 0] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene	[object_manager.py: 1238]
+05/25 15:11:45 INFO: [Worker 0] Worker 0 house 2075 episode 0 object objaconnector_eccce4e5f3e04ae58efb74c938d0d1ee_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 15:11:50 INFO: [Worker 0] Batching and saving trajectory data for house_2075: 1 episodes	[pipeline.py: 233]
+05/25 15:11:50 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:11:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:11:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2075	[save_utils.py: 703]
+05/25 15:11:53 INFO: [Worker 0] Successfully saved trajectory data for house_2075 in 3.36s (batch: 3.21s, save: 0.16s)	[pipeline.py: 280]
+05/25 15:11:54 WARNING: [Worker 0] No trajectory data to save for house_2075	[pipeline.py: 229]
+05/25 15:11:54 INFO: [Worker 0] Worker 0 completed house 2075: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:11:54 INFO: [Worker 0] Worker 0 starting house 2131 (index 34/112)	[pipeline.py: 473]
+05/25 15:11:54 INFO: [Worker 0] Loaded 1 episodes for house 2131 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 15:11:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 15:11:54 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/836b48b21dcb4842a208c66f106abf18	[json_eval_task_sampler.py: 648]
+05/25 15:11:54 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_7	[json_eval_task_sampler.py: 648]
+05/25 15:11:54 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_2	[json_eval_task_sampler.py: 648]
+05/25 15:11:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2131_ceiling.xml	[task_sampler.py: 797]
+05/25 15:11:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2131, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:11:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:11:56 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects	[json_eval_task_sampler.py: 686]
+05/25 15:11:56 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:11:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:11:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:11:56 INFO: [Worker 0] Sampled task 'Pick up the silver metal hinge with multiple screws and place it in or on the glossy translucent light blue bowl'	[task_sampler.py: 1136]
+05/25 15:11:56 INFO: [Worker 0] Worker 0 house 2131 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:11:56 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:11:57 WARNING: [Worker 0] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_3 in scene	[object_manager.py: 1238]
+05/25 15:11:57 WARNING: [Worker 0] Could not find object candle_09223ab74c3b4b8525bb3f1f1bd405c2_1_0_3 in scene	[object_manager.py: 1238]
+05/25 15:15:45 INFO: [Worker 0] Worker 0 house 2131 episode 0 object objahinge_4587c40e36704e7a96ffebad95028160_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 15:15:49 INFO: [Worker 0] Batching and saving trajectory data for house_2131: 1 episodes	[pipeline.py: 233]
+05/25 15:15:49 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:15:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:15:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2131	[save_utils.py: 703]
+05/25 15:15:52 INFO: [Worker 0] Successfully saved trajectory data for house_2131 in 2.72s (batch: 2.60s, save: 0.12s)	[pipeline.py: 280]
+05/25 15:15:52 WARNING: [Worker 0] No trajectory data to save for house_2131	[pipeline.py: 229]
+05/25 15:15:52 INFO: [Worker 0] Worker 0 completed house 2131: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:15:52 INFO: [Worker 0] Worker 0 starting house 2158 (index 35/112)	[pipeline.py: 473]
+05/25 15:15:52 INFO: [Worker 0] Loaded 1 episodes for house 2158 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 15:15:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 15:15:53 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7754545bd7044b298506bb35b05578d5	[json_eval_task_sampler.py: 648]
+05/25 15:15:53 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a5588c0e88cc47f38d21d6d345f891db	[json_eval_task_sampler.py: 648]
+05/25 15:15:53 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/5c5c3b9ae7874b709c10ac57dad33195	[json_eval_task_sampler.py: 648]
+05/25 15:15:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2158_ceiling.xml	[task_sampler.py: 797]
+05/25 15:15:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2158, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:15:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:15:57 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects	[json_eval_task_sampler.py: 686]
+05/25 15:15:57 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:15:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:15:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:15:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:15:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:15:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:15:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:15:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:15:57 INFO: [Worker 0] Sampled task 'Pick up the wooden handled tool and place it in or on the round terracotta dish with painted motifs'	[task_sampler.py: 1136]
+05/25 15:15:57 INFO: [Worker 0] Worker 0 house 2158 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:15:58 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:15:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 15:22:17 INFO: [Worker 0] Worker 0 house 2158 episode 0 object objaawl_a001d9c9ea68400d9e57893975d3d39d_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 15:22:21 INFO: [Worker 0] Batching and saving trajectory data for house_2158: 1 episodes	[pipeline.py: 233]
+05/25 15:22:21 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:22:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:22:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2158	[save_utils.py: 703]
+05/25 15:22:24 INFO: [Worker 0] Successfully saved trajectory data for house_2158 in 3.06s (batch: 2.95s, save: 0.11s)	[pipeline.py: 280]
+05/25 15:22:25 WARNING: [Worker 0] No trajectory data to save for house_2158	[pipeline.py: 229]
+05/25 15:22:25 INFO: [Worker 0] Worker 0 completed house 2158: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:22:25 INFO: [Worker 0] Worker 0 starting house 2193 (index 36/112)	[pipeline.py: 473]
+05/25 15:22:25 INFO: [Worker 0] Loaded 1 episodes for house 2193 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 15:22:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 15:22:28 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/48272cae86364aa0995e70658330c0a9	[json_eval_task_sampler.py: 648]
+05/25 15:22:28 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c2bd80794a3947238fe610f5733be9d2	[json_eval_task_sampler.py: 648]
+05/25 15:22:28 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e2a8c3df68a94aea94050e01ad9aa918	[json_eval_task_sampler.py: 648]
+05/25 15:22:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2193_ceiling.xml	[task_sampler.py: 797]
+05/25 15:22:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2193, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:22:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:22:34 INFO: [Worker 0] randomize_scene: Setting poses for 94 objects	[json_eval_task_sampler.py: 686]
+05/25 15:22:34 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:22:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:22:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:22:34 INFO: [Worker 0] Sampled task 'Pick up the yellow torch with flame and place it in or on the stone bowl filled with crystals'	[task_sampler.py: 1136]
+05/25 15:22:34 INFO: [Worker 0] Worker 0 house 2193 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:22:34 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:22:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 15:26:56 INFO: [Worker 0] Worker 0 house 2193 episode 0 object objatorch_b78782db44344871945bf5ea4f2aac1c_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 15:27:00 INFO: [Worker 0] Batching and saving trajectory data for house_2193: 1 episodes	[pipeline.py: 233]
+05/25 15:27:00 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:27:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:27:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2193	[save_utils.py: 703]
+05/25 15:27:02 INFO: [Worker 0] Successfully saved trajectory data for house_2193 in 2.85s (batch: 2.72s, save: 0.13s)	[pipeline.py: 280]
+05/25 15:27:03 WARNING: [Worker 0] No trajectory data to save for house_2193	[pipeline.py: 229]
+05/25 15:27:03 INFO: [Worker 0] Worker 0 completed house 2193: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:27:03 INFO: [Worker 0] Worker 0 starting house 2218 (index 37/112)	[pipeline.py: 473]
+05/25 15:27:03 INFO: [Worker 0] Loaded 2 episodes for house 2218 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 15:27:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 15:27:06 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/63211cbfb48044bcbdbbd30a3aa3bb75	[json_eval_task_sampler.py: 648]
+05/25 15:27:06 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/906fdc79f5d84e8e8b3b467e794a8c00	[json_eval_task_sampler.py: 648]
+05/25 15:27:06 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/752b1b00e4734e448428ccbd8ddae76c	[json_eval_task_sampler.py: 648]
+05/25 15:27:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2218_ceiling.xml	[task_sampler.py: 797]
+05/25 15:27:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2218, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:27:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:27:12 INFO: [Worker 0] randomize_scene: Setting poses for 91 objects	[json_eval_task_sampler.py: 686]
+05/25 15:27:12 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:27:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:27:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:27:12 INFO: [Worker 0] Sampled task 'Pick up the ten of clubs card and place it in or on the colorful decorative bowl'	[task_sampler.py: 1136]
+05/25 15:27:12 INFO: [Worker 0] Worker 0 house 2218 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 15:27:12 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:29:06 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 15:37:06 INFO: [Worker 0] Worker 0 house 2218 episode 0 object objaplayingcard_dad48ec229b640449d29ffc14d5eadbf_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 15:37:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 15:37:15 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/63211cbfb48044bcbdbbd30a3aa3bb75	[json_eval_task_sampler.py: 648]
+05/25 15:37:15 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/906fdc79f5d84e8e8b3b467e794a8c00	[json_eval_task_sampler.py: 648]
+05/25 15:37:16 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/752b1b00e4734e448428ccbd8ddae76c	[json_eval_task_sampler.py: 648]
+05/25 15:37:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2218_ceiling.xml	[task_sampler.py: 797]
+05/25 15:37:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2218, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:37:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:37:22 INFO: [Worker 0] randomize_scene: Setting poses for 91 objects	[json_eval_task_sampler.py: 686]
+05/25 15:37:23 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:37:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:37:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:37:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:37:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:37:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:37:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:37:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:37:23 INFO: [Worker 0] Sampled task 'Pick up the white playing card with black skull and place it in or on the colorful ceramic bowl with bird'	[task_sampler.py: 1136]
+05/25 15:37:23 INFO: [Worker 0] Worker 0 house 2218 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 15:37:23 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:40:20 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 15:46:18 INFO: [Worker 0] Worker 0 house 2218 episode 1 object objaplayingcard_dbdcf0441e0e442b912c0b47703eb4fc_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 15:46:23 INFO: [Worker 0] Batching and saving trajectory data for house_2218: 2 episodes	[pipeline.py: 233]
+05/25 15:46:23 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:46:26 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:46:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:46:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:46:30 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2218	[save_utils.py: 703]
+05/25 15:46:30 INFO: [Worker 0] Successfully saved trajectory data for house_2218 in 6.84s (batch: 6.51s, save: 0.32s)	[pipeline.py: 280]
+05/25 15:46:30 WARNING: [Worker 0] No trajectory data to save for house_2218	[pipeline.py: 229]
+05/25 15:46:30 INFO: [Worker 0] Worker 0 completed house 2218: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 15:46:30 INFO: [Worker 0] Worker 0 starting house 2231 (index 38/112)	[pipeline.py: 473]
+05/25 15:46:30 INFO: [Worker 0] Loaded 1 episodes for house 2231 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 15:46:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 15:46:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_26	[json_eval_task_sampler.py: 648]
+05/25 15:46:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5f6ab8152ec9440e9b922def5ae8b8b2	[json_eval_task_sampler.py: 648]
+05/25 15:46:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/1df7263c6e094645987c61c5d60e67d5	[json_eval_task_sampler.py: 648]
+05/25 15:46:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2231_ceiling.xml	[task_sampler.py: 797]
+05/25 15:46:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2231, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:46:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:46:38 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects	[json_eval_task_sampler.py: 686]
+05/25 15:46:39 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:46:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:46:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:46:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:46:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:46:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:46:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:46:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:46:39 INFO: [Worker 0] Sampled task 'Pick up the green hiking shoe and place it in or on the rustic ceramic bowl with earthy tones'	[task_sampler.py: 1136]
+05/25 15:46:39 INFO: [Worker 0] Worker 0 house 2231 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:46:39 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:46:39 WARNING: [Worker 0] Could not find object objabasketballshoe_279cb48afa8a4a91a765b371b2aa9107_1_0_5 in scene	[object_manager.py: 1238]
+05/25 15:46:39 WARNING: [Worker 0] Could not find object objametalartifact_c98d18777e2640379f8f697975068cdf_1_0_5 in scene	[object_manager.py: 1238]
+05/25 15:46:39 WARNING: [Worker 0] Could not find object objadecorativeribbon_3be787e16e6a4f5fb8f4830d0b2cb03b_3_0_7 in scene	[object_manager.py: 1238]
+05/25 15:52:09 INFO: [Worker 0] Worker 0 house 2231 episode 0 object objahikingshoe_463cca357bac4026ab74d535d7da639b_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 15:52:13 INFO: [Worker 0] Batching and saving trajectory data for house_2231: 1 episodes	[pipeline.py: 233]
+05/25 15:52:13 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:52:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:52:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2231	[save_utils.py: 703]
+05/25 15:52:18 INFO: [Worker 0] Successfully saved trajectory data for house_2231 in 4.18s (batch: 3.96s, save: 0.22s)	[pipeline.py: 280]
+05/25 15:52:18 WARNING: [Worker 0] No trajectory data to save for house_2231	[pipeline.py: 229]
+05/25 15:52:18 INFO: [Worker 0] Worker 0 completed house 2231: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:52:18 INFO: [Worker 0] Worker 0 starting house 2270 (index 39/112)	[pipeline.py: 473]
+05/25 15:52:18 INFO: [Worker 0] Loaded 1 episodes for house 2270 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 15:52:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 15:52:26 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/65e992e1326c4615bdada49b02005e16	[json_eval_task_sampler.py: 648]
+05/25 15:52:26 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/42f50ecee3da4df498c0e1b4319366a4	[json_eval_task_sampler.py: 648]
+05/25 15:52:26 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/3b145885d881488887d90a98b3cde06f	[json_eval_task_sampler.py: 648]
+05/25 15:52:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2270_ceiling.xml	[task_sampler.py: 797]
+05/25 15:52:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2270, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:52:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:52:35 INFO: [Worker 0] randomize_scene: Setting poses for 113 objects	[json_eval_task_sampler.py: 686]
+05/25 15:52:35 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:52:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:52:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:52:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:52:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:52:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:52:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:52:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:52:35 INFO: [Worker 0] Sampled task 'Pick up the black metal locking pliers and place it in or on the rustic gray stone bowl with seams'	[task_sampler.py: 1136]
+05/25 15:52:35 INFO: [Worker 0] Worker 0 house 2270 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:52:36 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:52:39 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 16:02:57 INFO: [Worker 0] Worker 0 house 2270 episode 0 object objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 16:03:02 INFO: [Worker 0] Batching and saving trajectory data for house_2270: 1 episodes	[pipeline.py: 233]
+05/25 16:03:02 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:03:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:03:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2270	[save_utils.py: 703]
+05/25 16:03:07 INFO: [Worker 0] Successfully saved trajectory data for house_2270 in 4.32s (batch: 4.09s, save: 0.23s)	[pipeline.py: 280]
+05/25 16:03:08 WARNING: [Worker 0] No trajectory data to save for house_2270	[pipeline.py: 229]
+05/25 16:03:08 INFO: [Worker 0] Worker 0 completed house 2270: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:03:08 INFO: [Worker 0] Worker 0 starting house 2322 (index 40/112)	[pipeline.py: 473]
+05/25 16:03:08 INFO: [Worker 0] Loaded 1 episodes for house 2322 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 16:03:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 16:03:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/af624cab76c04bec86f0c928207797d8	[json_eval_task_sampler.py: 648]
+05/25 16:03:09 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_24	[json_eval_task_sampler.py: 648]
+05/25 16:03:09 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2b5fd8656f2b43cba43cb0e25a2cb838	[json_eval_task_sampler.py: 648]
+05/25 16:03:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2322_ceiling.xml	[task_sampler.py: 797]
+05/25 16:03:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2322, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:03:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:03:14 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects	[json_eval_task_sampler.py: 686]
+05/25 16:03:14 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:03:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:03:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:03:14 INFO: [Worker 0] Sampled task 'Pick up the light brown knobby textured ginger root and place it in or on the gray bowl'	[task_sampler.py: 1136]
+05/25 16:03:14 INFO: [Worker 0] Worker 0 house 2322 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:03:14 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:03:15 WARNING: [Worker 0] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:03:15 WARNING: [Worker 0] Could not find object objaheadband_a45e0fe1df584ab4b49c35ef88bd90b0_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:03:15 WARNING: [Worker 0] Could not find object objatoyhelmet_463d6b3a9a064a2ab09055c0c43f8d29_1_0_7 in scene	[object_manager.py: 1238]
+05/25 16:03:15 WARNING: [Worker 0] Could not find object plate_ac19ca22ae10d8179cdc8dc68e02072d_1_0_7 in scene	[object_manager.py: 1238]
+05/25 16:06:44 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 16:11:58 INFO: [Worker 0] Worker 0 house 2322 episode 0 object objagingerroot_e8e250f94c6a4c51b71f15e1a3b36e25_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 16:12:02 INFO: [Worker 0] Batching and saving trajectory data for house_2322: 1 episodes	[pipeline.py: 233]
+05/25 16:12:02 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:12:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:12:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2322	[save_utils.py: 703]
+05/25 16:12:05 INFO: [Worker 0] Successfully saved trajectory data for house_2322 in 3.10s (batch: 2.96s, save: 0.14s)	[pipeline.py: 280]
+05/25 16:12:06 WARNING: [Worker 0] No trajectory data to save for house_2322	[pipeline.py: 229]
+05/25 16:12:06 INFO: [Worker 0] Worker 0 completed house 2322: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:12:06 INFO: [Worker 0] Worker 0 starting house 2367 (index 41/112)	[pipeline.py: 473]
+05/25 16:12:06 INFO: [Worker 0] Loaded 1 episodes for house 2367 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 16:12:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 16:12:06 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_9	[json_eval_task_sampler.py: 648]
+05/25 16:12:06 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c2bd80794a3947238fe610f5733be9d2	[json_eval_task_sampler.py: 648]
+05/25 16:12:06 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7754545bd7044b298506bb35b05578d5	[json_eval_task_sampler.py: 648]
+05/25 16:12:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2367_ceiling.xml	[task_sampler.py: 797]
+05/25 16:12:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2367, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:12:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:12:08 INFO: [Worker 0] randomize_scene: Setting poses for 26 objects	[json_eval_task_sampler.py: 686]
+05/25 16:12:08 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:12:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:12:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:12:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:12:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:12:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:12:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:12:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:12:08 INFO: [Worker 0] Sampled task 'Pick up the night vision goggles and place it in or on the simple round gray ceramic bowl'	[task_sampler.py: 1136]
+05/25 16:12:08 INFO: [Worker 0] Worker 0 house 2367 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:12:09 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:12:10 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 16:16:14 INFO: [Worker 0] Worker 0 house 2367 episode 0 object objanightvisiongoggles_396b90fb83cb4f06b96b1f9a120af75b_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 16:16:17 INFO: [Worker 0] Batching and saving trajectory data for house_2367: 1 episodes	[pipeline.py: 233]
+05/25 16:16:17 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:16:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:16:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2367	[save_utils.py: 703]
+05/25 16:16:20 INFO: [Worker 0] Successfully saved trajectory data for house_2367 in 2.99s (batch: 2.85s, save: 0.14s)	[pipeline.py: 280]
+05/25 16:16:21 WARNING: [Worker 0] No trajectory data to save for house_2367	[pipeline.py: 229]
+05/25 16:16:21 INFO: [Worker 0] Worker 0 completed house 2367: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:16:21 INFO: [Worker 0] Worker 0 starting house 2387 (index 42/112)	[pipeline.py: 473]
+05/25 16:16:21 INFO: [Worker 0] Loaded 1 episodes for house 2387 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 16:16:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 16:16:21 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d02ed62181d942fc9a1527b49bc67b17	[json_eval_task_sampler.py: 648]
+05/25 16:16:21 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/50be4f8b8f744730878916aa38b0f08f	[json_eval_task_sampler.py: 648]
+05/25 16:16:21 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9e167f4b5fcd446e8ff3c4ca5b257286	[json_eval_task_sampler.py: 648]
+05/25 16:16:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2387_ceiling.xml	[task_sampler.py: 797]
+05/25 16:16:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2387, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:16:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:16:23 INFO: [Worker 0] randomize_scene: Setting poses for 17 objects	[json_eval_task_sampler.py: 686]
+05/25 16:16:23 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:16:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:16:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:16:23 INFO: [Worker 0] Sampled task 'Pick up the white tape dispenser and place it in or on the brown wooden leaf tray'	[task_sampler.py: 1136]
+05/25 16:16:23 INFO: [Worker 0] Worker 0 house 2387 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:16:23 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:19:35 INFO: [Worker 0] Worker 0 house 2387 episode 0 object objatapedispenser_a4dda5be59374f9eabc8185a43e88611_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 16:19:39 INFO: [Worker 0] Batching and saving trajectory data for house_2387: 1 episodes	[pipeline.py: 233]
+05/25 16:19:39 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:19:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:19:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2387	[save_utils.py: 703]
+05/25 16:19:42 INFO: [Worker 0] Successfully saved trajectory data for house_2387 in 3.06s (batch: 2.95s, save: 0.12s)	[pipeline.py: 280]
+05/25 16:19:43 WARNING: [Worker 0] No trajectory data to save for house_2387	[pipeline.py: 229]
+05/25 16:19:43 INFO: [Worker 0] Worker 0 completed house 2387: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:19:43 INFO: [Worker 0] Worker 0 starting house 2444 (index 43/112)	[pipeline.py: 473]
+05/25 16:19:43 INFO: [Worker 0] Loaded 1 episodes for house 2444 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 16:19:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 16:19:45 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e5c6cae2c71b45fe8fee9657af246c2c	[json_eval_task_sampler.py: 648]
+05/25 16:19:45 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/675213cdb6eb4b8ab4ca565f2e7f4fc4	[json_eval_task_sampler.py: 648]
+05/25 16:19:45 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/1e4b75a1bb484c42b99fcd3ddf23ae9f	[json_eval_task_sampler.py: 648]
+05/25 16:19:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2444_ceiling.xml	[task_sampler.py: 797]
+05/25 16:19:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2444, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:19:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:19:49 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects	[json_eval_task_sampler.py: 686]
+05/25 16:19:49 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:19:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:19:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:19:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:19:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:19:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:19:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:19:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:19:49 INFO: [Worker 0] Sampled task 'Pick up the black leather collar with spikes and place it in or on the round handcrafted rustic earthy bowl'	[task_sampler.py: 1136]
+05/25 16:19:49 INFO: [Worker 0] Worker 0 house 2444 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:19:49 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:19:49 WARNING: [Worker 0] Could not find object objatarget_0f9b04b883a24de2a3f57c9c9e301f6b_1_0_6 in scene	[object_manager.py: 1238]
+05/25 16:19:49 WARNING: [Worker 0] Could not find object objadecorativeleaf_c22b8a33232c47c7be9f3ef1f73df958_1_0_6 in scene	[object_manager.py: 1238]
+05/25 16:26:50 INFO: [Worker 0] Worker 0 house 2444 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 16:26:53 INFO: [Worker 0] Batching and saving trajectory data for house_2444: 1 episodes	[pipeline.py: 233]
+05/25 16:26:53 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:26:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:26:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2444	[save_utils.py: 703]
+05/25 16:26:56 INFO: [Worker 0] Successfully saved trajectory data for house_2444 in 2.89s (batch: 2.78s, save: 0.11s)	[pipeline.py: 280]
+05/25 16:26:57 WARNING: [Worker 0] No trajectory data to save for house_2444	[pipeline.py: 229]
+05/25 16:26:57 INFO: [Worker 0] Worker 0 completed house 2444: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:26:57 INFO: [Worker 0] Worker 0 starting house 2471 (index 44/112)	[pipeline.py: 473]
+05/25 16:26:57 INFO: [Worker 0] Loaded 1 episodes for house 2471 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 16:26:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 16:26:58 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_7	[json_eval_task_sampler.py: 648]
+05/25 16:26:58 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/372c4540cbe148b9bddcbbf1761b5e81	[json_eval_task_sampler.py: 648]
+05/25 16:26:58 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/fdfd829fe39049a69f6df2289b29dc7f	[json_eval_task_sampler.py: 648]
+05/25 16:27:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2471_ceiling.xml	[task_sampler.py: 797]
+05/25 16:27:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2471, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:27:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:27:01 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects	[json_eval_task_sampler.py: 686]
+05/25 16:27:01 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:27:01 INFO: [Worker 0] Sampled task 'Pick up the curved green cucumber and place it in or on the shallow rustic brown coconut bowl'	[task_sampler.py: 1136]
+05/25 16:27:01 INFO: [Worker 0] Worker 0 house 2471 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:27:01 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:27:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 16:31:51 INFO: [Worker 0] Worker 0 house 2471 episode 0 object objacucumber_0aef5e1b2ef446d7a5663674e75d45c8_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 16:31:55 INFO: [Worker 0] Batching and saving trajectory data for house_2471: 1 episodes	[pipeline.py: 233]
+05/25 16:31:55 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:31:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:31:59 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2471	[save_utils.py: 703]
+05/25 16:31:59 INFO: [Worker 0] Successfully saved trajectory data for house_2471 in 4.02s (batch: 3.83s, save: 0.20s)	[pipeline.py: 280]
+05/25 16:32:01 WARNING: [Worker 0] No trajectory data to save for house_2471	[pipeline.py: 229]
+05/25 16:32:01 INFO: [Worker 0] Worker 0 completed house 2471: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:32:01 INFO: [Worker 0] Worker 0 starting house 2535 (index 45/112)	[pipeline.py: 473]
+05/25 16:32:01 INFO: [Worker 0] Loaded 1 episodes for house 2535 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 16:32:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 16:32:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_13	[json_eval_task_sampler.py: 648]
+05/25 16:32:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_18	[json_eval_task_sampler.py: 648]
+05/25 16:32:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ede795f1c6f74a99b6952183f340fcb8	[json_eval_task_sampler.py: 648]
+05/25 16:32:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2535_ceiling.xml	[task_sampler.py: 797]
+05/25 16:32:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2535, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:32:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:32:11 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects	[json_eval_task_sampler.py: 686]
+05/25 16:32:11 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:32:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:32:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:32:11 INFO: [Worker 0] Sampled task 'Pick up the toysubmarine and place it in or on the matte dark gray shallow bowl'	[task_sampler.py: 1136]
+05/25 16:32:11 INFO: [Worker 0] Worker 0 house 2535 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:32:12 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:32:13 WARNING: [Worker 0] Could not find object objaanimalskull_8b52ece8d024428192d2681e0dd9cfa5_1_0_4 in scene	[object_manager.py: 1238]
+05/25 16:32:13 WARNING: [Worker 0] Could not find object plate_5eb7564ba51c03b33a20e901d23c4f3b_1_0_4 in scene	[object_manager.py: 1238]
+05/25 16:32:13 WARNING: [Worker 0] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:32:13 WARNING: [Worker 0] Could not find object objareplicatooth_c7bf1c4c76f74da4bbc1620e1173e189_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:32:14 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 16:39:27 INFO: [Worker 0] Worker 0 house 2535 episode 0 object objatoysubmarine_05ee97f0960b4350810c58cd72083759_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 16:39:31 INFO: [Worker 0] Batching and saving trajectory data for house_2535: 1 episodes	[pipeline.py: 233]
+05/25 16:39:31 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:39:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:39:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2535	[save_utils.py: 703]
+05/25 16:39:34 INFO: [Worker 0] Successfully saved trajectory data for house_2535 in 2.95s (batch: 2.80s, save: 0.15s)	[pipeline.py: 280]
+05/25 16:39:35 WARNING: [Worker 0] No trajectory data to save for house_2535	[pipeline.py: 229]
+05/25 16:39:35 INFO: [Worker 0] Worker 0 completed house 2535: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:39:35 INFO: [Worker 0] Worker 0 starting house 2537 (index 46/112)	[pipeline.py: 473]
+05/25 16:39:35 INFO: [Worker 0] Loaded 2 episodes for house 2537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 16:39:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 16:39:37 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a2e1b30c4fbb491e9aeff5cccdfc00ec	[json_eval_task_sampler.py: 648]
+05/25 16:39:37 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_7	[json_eval_task_sampler.py: 648]
+05/25 16:39:37 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ac3628478f6c4042a16e77d6753fa413	[json_eval_task_sampler.py: 648]
+05/25 16:39:37 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 16:39:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2537_ceiling.xml	[task_sampler.py: 797]
+05/25 16:39:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2537, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:39:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:39:40 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects	[json_eval_task_sampler.py: 686]
+05/25 16:39:40 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:39:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:39:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:39:40 INFO: [Worker 0] Sampled task 'Pick up the colorful puzzle cube and place it in or on the white mug'	[task_sampler.py: 1136]
+05/25 16:39:40 INFO: [Worker 0] Worker 0 house 2537 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 16:39:41 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:39:41 WARNING: [Worker 0] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:39:41 WARNING: [Worker 0] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:39:41 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene	[object_manager.py: 1238]
+05/25 16:44:28 INFO: [Worker 0] Worker 0 house 2537 episode 0 object objapuzzle_a04ff652820c465da4ba7a427fd34417_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 16:44:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 16:44:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a2e1b30c4fbb491e9aeff5cccdfc00ec	[json_eval_task_sampler.py: 648]
+05/25 16:44:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_7	[json_eval_task_sampler.py: 648]
+05/25 16:44:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ac3628478f6c4042a16e77d6753fa413	[json_eval_task_sampler.py: 648]
+05/25 16:44:34 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 16:44:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2537_ceiling.xml	[task_sampler.py: 797]
+05/25 16:44:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2537, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:44:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:44:37 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects	[json_eval_task_sampler.py: 686]
+05/25 16:44:37 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:44:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:44:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:44:37 INFO: [Worker 0] Sampled task 'Pick up the light brown scroll with blue band and place it in or on the glossy translucent glass bowl'	[task_sampler.py: 1136]
+05/25 16:44:37 INFO: [Worker 0] Worker 0 house 2537 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 16:44:37 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:44:38 WARNING: [Worker 0] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:44:38 WARNING: [Worker 0] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:44:38 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene	[object_manager.py: 1238]
+05/25 16:44:39 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 16:48:42 INFO: [Worker 0] Worker 0 house 2537 episode 1 object objascroll_3781576e50c04e11a8c031b2fcb025b9_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 16:48:47 INFO: [Worker 0] Batching and saving trajectory data for house_2537: 2 episodes	[pipeline.py: 233]
+05/25 16:48:47 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:48:50 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:48:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:48:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:48:53 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2537	[save_utils.py: 703]
+05/25 16:48:53 INFO: [Worker 0] Successfully saved trajectory data for house_2537 in 6.55s (batch: 6.22s, save: 0.33s)	[pipeline.py: 280]
+05/25 16:48:54 WARNING: [Worker 0] No trajectory data to save for house_2537	[pipeline.py: 229]
+05/25 16:48:54 INFO: [Worker 0] Worker 0 completed house 2537: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 16:48:54 INFO: [Worker 0] Worker 0 starting house 2580 (index 47/112)	[pipeline.py: 473]
+05/25 16:48:54 INFO: [Worker 0] Loaded 1 episodes for house 2580 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 16:48:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 16:48:54 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_4	[json_eval_task_sampler.py: 648]
+05/25 16:48:54 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/372c4540cbe148b9bddcbbf1761b5e81	[json_eval_task_sampler.py: 648]
+05/25 16:48:54 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0	[json_eval_task_sampler.py: 648]
+05/25 16:48:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2580_ceiling.xml	[task_sampler.py: 797]
+05/25 16:48:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2580, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:48:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:48:56 INFO: [Worker 0] randomize_scene: Setting poses for 16 objects	[json_eval_task_sampler.py: 686]
+05/25 16:48:56 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:48:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:48:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:48:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:48:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:48:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:48:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:48:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:48:56 INFO: [Worker 0] Sampled task 'Pick up the compact rectangular bluetooth speaker with logo and place it in or on the medium dark metal cooking pot'	[task_sampler.py: 1136]
+05/25 16:48:56 INFO: [Worker 0] Worker 0 house 2580 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:48:57 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:48:58 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 16:54:32 INFO: [Worker 0] Worker 0 house 2580 episode 0 object objabluetoothspeaker_887407a8e0d541408cfa76d8596fda90_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 16:54:36 INFO: [Worker 0] Batching and saving trajectory data for house_2580: 1 episodes	[pipeline.py: 233]
+05/25 16:54:36 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:54:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:54:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2580	[save_utils.py: 703]
+05/25 16:54:39 INFO: [Worker 0] Successfully saved trajectory data for house_2580 in 3.10s (batch: 2.95s, save: 0.15s)	[pipeline.py: 280]
+05/25 16:54:39 WARNING: [Worker 0] No trajectory data to save for house_2580	[pipeline.py: 229]
+05/25 16:54:39 INFO: [Worker 0] Worker 0 completed house 2580: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:54:39 INFO: [Worker 0] Worker 0 starting house 2625 (index 48/112)	[pipeline.py: 473]
+05/25 16:54:39 INFO: [Worker 0] Loaded 1 episodes for house 2625 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 16:54:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 16:54:43 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/93ef7da87b1e43fbb47f3b26b927f777	[json_eval_task_sampler.py: 648]
+05/25 16:54:43 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a2e1b30c4fbb491e9aeff5cccdfc00ec	[json_eval_task_sampler.py: 648]
+05/25 16:54:43 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e9670b35612840bd92354dd8936d3c6a	[json_eval_task_sampler.py: 648]
+05/25 16:54:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2625_ceiling.xml	[task_sampler.py: 797]
+05/25 16:54:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2625, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:54:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:54:50 INFO: [Worker 0] randomize_scene: Setting poses for 102 objects	[json_eval_task_sampler.py: 686]
+05/25 16:54:50 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:54:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:54:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:54:50 INFO: [Worker 0] Sampled task 'Pick up the gold vintage pocket watch and place it in or on the gray ceramic bowl'	[task_sampler.py: 1136]
+05/25 16:54:50 INFO: [Worker 0] Worker 0 house 2625 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:54:50 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:04:27 INFO: [Worker 0] Worker 0 house 2625 episode 0 object objapocketwatch_2ec1ab458bcd4ea59236bb58bc3707dd_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 17:04:32 INFO: [Worker 0] Batching and saving trajectory data for house_2625: 1 episodes	[pipeline.py: 233]
+05/25 17:04:32 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:04:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:04:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2625	[save_utils.py: 703]
+05/25 17:04:36 INFO: [Worker 0] Successfully saved trajectory data for house_2625 in 3.88s (batch: 3.65s, save: 0.23s)	[pipeline.py: 280]
+05/25 17:04:37 WARNING: [Worker 0] No trajectory data to save for house_2625	[pipeline.py: 229]
+05/25 17:04:37 INFO: [Worker 0] Worker 0 completed house 2625: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:04:37 INFO: [Worker 0] Worker 0 starting house 2684 (index 49/112)	[pipeline.py: 473]
+05/25 17:04:37 INFO: [Worker 0] Loaded 1 episodes for house 2684 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 17:04:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 17:04:40 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1e4b75a1bb484c42b99fcd3ddf23ae9f	[json_eval_task_sampler.py: 648]
+05/25 17:04:40 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d792e36c80784b53b987c84e304481a9	[json_eval_task_sampler.py: 648]
+05/25 17:04:40 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/576495fa2f9749adaca89aa604aa68b0	[json_eval_task_sampler.py: 648]
+05/25 17:04:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2684_ceiling.xml	[task_sampler.py: 797]
+05/25 17:04:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2684, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:04:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:04:47 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects	[json_eval_task_sampler.py: 686]
+05/25 17:04:47 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:04:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:04:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:04:47 INFO: [Worker 0] Sampled task 'Pick up the gavel with brown handle and brass and place it in or on the rustic bowl'	[task_sampler.py: 1136]
+05/25 17:04:47 INFO: [Worker 0] Worker 0 house 2684 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:04:47 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:11:14 INFO: [Worker 0] Worker 0 house 2684 episode 0 object objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 17:11:19 INFO: [Worker 0] Batching and saving trajectory data for house_2684: 1 episodes	[pipeline.py: 233]
+05/25 17:11:19 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:11:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:11:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2684	[save_utils.py: 703]
+05/25 17:11:23 INFO: [Worker 0] Successfully saved trajectory data for house_2684 in 3.99s (batch: 3.81s, save: 0.18s)	[pipeline.py: 280]
+05/25 17:11:24 WARNING: [Worker 0] No trajectory data to save for house_2684	[pipeline.py: 229]
+05/25 17:11:24 INFO: [Worker 0] Worker 0 completed house 2684: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:11:24 INFO: [Worker 0] Worker 0 starting house 2742 (index 50/112)	[pipeline.py: 473]
+05/25 17:11:24 INFO: [Worker 0] Loaded 1 episodes for house 2742 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 17:11:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 17:11:37 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_11	[json_eval_task_sampler.py: 648]
+05/25 17:11:37 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/f8b3d867de194e6cb587c89d54ed8f0e	[json_eval_task_sampler.py: 648]
+05/25 17:11:37 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0500b0d9ef6f40dd96591d7b354c9ede	[json_eval_task_sampler.py: 648]
+05/25 17:11:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2742_ceiling.xml	[task_sampler.py: 797]
+05/25 17:11:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2742, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:11:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:11:43 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects	[json_eval_task_sampler.py: 686]
+05/25 17:11:43 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:11:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:11:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:11:43 INFO: [Worker 0] Sampled task 'Pick up the small corroded metal piece with holes and place it in or on the place receptacl 0'	[task_sampler.py: 1136]
+05/25 17:11:43 INFO: [Worker 0] Worker 0 house 2742 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:11:44 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:11:44 WARNING: [Worker 0] Could not find object objametalartifact_ce43098d06304a5c854f996ce96bd02e_2_0_5 in scene	[object_manager.py: 1238]
+05/25 17:11:44 WARNING: [Worker 0] Could not find object objatooth_a3935c394bc8479983378bddbe9b6c0f_1_0_5 in scene	[object_manager.py: 1238]
+05/25 17:19:05 INFO: [Worker 0] Worker 0 house 2742 episode 0 object objametalartifact_ce43098d06304a5c854f996ce96bd02e_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 17:19:09 INFO: [Worker 0] Batching and saving trajectory data for house_2742: 1 episodes	[pipeline.py: 233]
+05/25 17:19:09 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:19:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:19:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2742	[save_utils.py: 703]
+05/25 17:19:13 INFO: [Worker 0] Successfully saved trajectory data for house_2742 in 3.54s (batch: 3.34s, save: 0.20s)	[pipeline.py: 280]
+05/25 17:19:14 WARNING: [Worker 0] No trajectory data to save for house_2742	[pipeline.py: 229]
+05/25 17:19:14 INFO: [Worker 0] Worker 0 completed house 2742: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:19:14 INFO: [Worker 0] Worker 0 starting house 2781 (index 51/112)	[pipeline.py: 473]
+05/25 17:19:14 INFO: [Worker 0] Loaded 1 episodes for house 2781 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 17:19:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 17:19:43 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/c2bd80794a3947238fe610f5733be9d2	[json_eval_task_sampler.py: 648]
+05/25 17:19:43 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1ef337c5cfda4d368ceb154c0e9fae0e	[json_eval_task_sampler.py: 648]
+05/25 17:19:43 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/48272cae86364aa0995e70658330c0a9	[json_eval_task_sampler.py: 648]
+05/25 17:19:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2781_ceiling.xml	[task_sampler.py: 797]
+05/25 17:19:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2781, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:19:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:19:51 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects	[json_eval_task_sampler.py: 686]
+05/25 17:19:51 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:19:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:19:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:19:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:19:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:19:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:19:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:19:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:19:51 INFO: [Worker 0] Sampled task 'Pick up the dark squeegee and place it in or on the square ashtray with grooves'	[task_sampler.py: 1136]
+05/25 17:19:51 INFO: [Worker 0] Worker 0 house 2781 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:19:51 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:22:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 17:30:38 INFO: [Worker 0] Worker 0 house 2781 episode 0 object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 17:30:42 INFO: [Worker 0] Batching and saving trajectory data for house_2781: 1 episodes	[pipeline.py: 233]
+05/25 17:30:42 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:30:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:30:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2781	[save_utils.py: 703]
+05/25 17:30:45 INFO: [Worker 0] Successfully saved trajectory data for house_2781 in 2.94s (batch: 2.80s, save: 0.13s)	[pipeline.py: 280]
+05/25 17:30:46 WARNING: [Worker 0] No trajectory data to save for house_2781	[pipeline.py: 229]
+05/25 17:30:46 INFO: [Worker 0] Worker 0 completed house 2781: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:30:46 INFO: [Worker 0] Worker 0 starting house 2842 (index 52/112)	[pipeline.py: 473]
+05/25 17:30:46 INFO: [Worker 0] Loaded 1 episodes for house 2842 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 17:30:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 17:30:47 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a37c32fbdbbb4ab19c8b1cccc557f52d	[json_eval_task_sampler.py: 648]
+05/25 17:30:47 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0500b0d9ef6f40dd96591d7b354c9ede	[json_eval_task_sampler.py: 648]
+05/25 17:30:47 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/5f6ab8152ec9440e9b922def5ae8b8b2	[json_eval_task_sampler.py: 648]
+05/25 17:30:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2842_ceiling.xml	[task_sampler.py: 797]
+05/25 17:30:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2842, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:30:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:30:51 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects	[json_eval_task_sampler.py: 686]
+05/25 17:30:51 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:30:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:30:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:30:51 INFO: [Worker 0] Sampled task 'Pick up the yellow geiger counter with antennas and place it in or on the rusty metal tray with meat'	[task_sampler.py: 1136]
+05/25 17:30:51 INFO: [Worker 0] Worker 0 house 2842 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:30:51 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:36:59 INFO: [Worker 0] Worker 0 house 2842 episode 0 object objageigercounter_fdbe3ec34d3940989088368c1d29eebb_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 17:37:03 INFO: [Worker 0] Batching and saving trajectory data for house_2842: 1 episodes	[pipeline.py: 233]
+05/25 17:37:03 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:37:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:37:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2842	[save_utils.py: 703]
+05/25 17:37:07 INFO: [Worker 0] Successfully saved trajectory data for house_2842 in 3.39s (batch: 3.08s, save: 0.31s)	[pipeline.py: 280]
+05/25 17:37:07 WARNING: [Worker 0] No trajectory data to save for house_2842	[pipeline.py: 229]
+05/25 17:37:07 INFO: [Worker 0] Worker 0 completed house 2842: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:37:07 INFO: [Worker 0] Worker 0 starting house 2884 (index 53/112)	[pipeline.py: 473]
+05/25 17:37:07 INFO: [Worker 0] Loaded 1 episodes for house 2884 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 17:37:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 17:37:24 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bfae6fa9a7f64b9eb16f57c05553c612	[json_eval_task_sampler.py: 648]
+05/25 17:37:24 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/27dd012c10e64049b8ca900fe86f077f	[json_eval_task_sampler.py: 648]
+05/25 17:37:24 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/592fc966e1de425cb6ad1982dfe6dda1	[json_eval_task_sampler.py: 648]
+05/25 17:37:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2884_ceiling.xml	[task_sampler.py: 797]
+05/25 17:37:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2884, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:37:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:37:27 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects	[json_eval_task_sampler.py: 686]
+05/25 17:37:27 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:37:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:37:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:37:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:37:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:37:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:37:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:37:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:37:27 INFO: [Worker 0] Sampled task 'Pick up the medium red apple and place it in or on the white ceramic bowl with food'	[task_sampler.py: 1136]
+05/25 17:37:27 INFO: [Worker 0] Worker 0 house 2884 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:37:28 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:37:28 WARNING: [Worker 0] Could not find object lettuce_b5d873e9282da3d6480dce5dc1588ed8_1_0_6 in scene	[object_manager.py: 1238]
+05/25 17:37:28 WARNING: [Worker 0] Could not find object cookingpan_2042502e26c8e4aa7f1acb4af74ccc69_1_0_6 in scene	[object_manager.py: 1238]
+05/25 17:37:28 WARNING: [Worker 0] Could not find object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_6 in scene	[object_manager.py: 1238]
+05/25 17:40:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 17:45:26 INFO: [Worker 0] Worker 0 house 2884 episode 0 object apple_1184bcea45a878476443040fbba5b76d_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 17:45:31 INFO: [Worker 0] Batching and saving trajectory data for house_2884: 1 episodes	[pipeline.py: 233]
+05/25 17:45:31 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:45:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:45:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2884	[save_utils.py: 703]
+05/25 17:45:35 INFO: [Worker 0] Successfully saved trajectory data for house_2884 in 4.24s (batch: 4.04s, save: 0.20s)	[pipeline.py: 280]
+05/25 17:45:37 WARNING: [Worker 0] No trajectory data to save for house_2884	[pipeline.py: 229]
+05/25 17:45:37 INFO: [Worker 0] Worker 0 completed house 2884: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:45:37 INFO: [Worker 0] Worker 0 starting house 2885 (index 54/112)	[pipeline.py: 473]
+05/25 17:45:37 INFO: [Worker 0] Loaded 2 episodes for house 2885 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 17:45:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 17:45:42 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/44f5be7685c1439c85cf9bc36e78578a	[json_eval_task_sampler.py: 648]
+05/25 17:45:42 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e2a8c3df68a94aea94050e01ad9aa918	[json_eval_task_sampler.py: 648]
+05/25 17:45:42 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/08dd440442874c8e8ae35494b4aff0a2	[json_eval_task_sampler.py: 648]
+05/25 17:45:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2885_ceiling.xml	[task_sampler.py: 797]
+05/25 17:45:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2885, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:45:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:45:51 INFO: [Worker 0] randomize_scene: Setting poses for 103 objects	[json_eval_task_sampler.py: 686]
+05/25 17:45:51 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:45:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:45:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:45:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:45:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:45:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:45:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:45:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:45:51 INFO: [Worker 0] Sampled task 'Pick up the insulation panel and place it in or on the stone bowl filled with crystals'	[task_sampler.py: 1136]
+05/25 17:45:51 INFO: [Worker 0] Worker 0 house 2885 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 17:45:52 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:54:14 INFO: [Worker 0] Worker 0 house 2885 episode 0 object objainsulationpanel_a06ecf98780b49ad891a166141119739_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 17:54:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 17:54:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/44f5be7685c1439c85cf9bc36e78578a	[json_eval_task_sampler.py: 648]
+05/25 17:54:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e2a8c3df68a94aea94050e01ad9aa918	[json_eval_task_sampler.py: 648]
+05/25 17:54:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/08dd440442874c8e8ae35494b4aff0a2	[json_eval_task_sampler.py: 648]
+05/25 17:54:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2885_ceiling.xml	[task_sampler.py: 797]
+05/25 17:54:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2885, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:54:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:54:29 INFO: [Worker 0] randomize_scene: Setting poses for 103 objects	[json_eval_task_sampler.py: 686]
+05/25 17:54:29 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:54:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:54:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:54:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:54:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:54:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:54:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:54:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:54:29 INFO: [Worker 0] Sampled task 'Pick up the colorful geometric molecular model toy and place it in or on the dark gray bowl'	[task_sampler.py: 1136]
+05/25 17:54:29 INFO: [Worker 0] Worker 0 house 2885 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 17:54:30 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:57:14 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 18:08:09 INFO: [Worker 0] Worker 0 house 2885 episode 1 object objaeducationaltoy_3d86ad3a43be4e7faf00336577c4edd3_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 18:08:15 INFO: [Worker 0] Batching and saving trajectory data for house_2885: 2 episodes	[pipeline.py: 233]
+05/25 18:08:15 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:08:19 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:08:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:08:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:08:23 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2885	[save_utils.py: 703]
+05/25 18:08:23 INFO: [Worker 0] Successfully saved trajectory data for house_2885 in 7.90s (batch: 7.61s, save: 0.29s)	[pipeline.py: 280]
+05/25 18:08:23 WARNING: [Worker 0] No trajectory data to save for house_2885	[pipeline.py: 229]
+05/25 18:08:23 INFO: [Worker 0] Worker 0 completed house 2885: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 18:08:23 INFO: [Worker 0] Worker 0 starting house 2978 (index 55/112)	[pipeline.py: 473]
+05/25 18:08:23 INFO: [Worker 0] Loaded 1 episodes for house 2978 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 18:08:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 18:08:24 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/cfe3c9eed1554f59ad7756e27d97c667	[json_eval_task_sampler.py: 648]
+05/25 18:08:24 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_9	[json_eval_task_sampler.py: 648]
+05/25 18:08:24 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/16bfd987e11444ca9c065718d49f5877	[json_eval_task_sampler.py: 648]
+05/25 18:08:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2978_ceiling.xml	[task_sampler.py: 797]
+05/25 18:08:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2978, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 18:08:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 18:08:27 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects	[json_eval_task_sampler.py: 686]
+05/25 18:08:27 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 18:08:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 18:08:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 18:08:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 18:08:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 18:08:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 18:08:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 18:08:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 18:08:27 INFO: [Worker 0] Sampled task 'Pick up the silver tiara with pink accents and place it in or on the blue bowl'	[task_sampler.py: 1136]
+05/25 18:08:27 INFO: [Worker 0] Worker 0 house 2978 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 18:08:27 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:10:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 18:15:20 INFO: [Worker 0] Worker 0 house 2978 episode 0 object objatiara_806e2009917d4de7b2911bb536feb687_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 18:15:25 INFO: [Worker 0] Batching and saving trajectory data for house_2978: 1 episodes	[pipeline.py: 233]
+05/25 18:15:25 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:15:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:15:29 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2978	[save_utils.py: 703]
+05/25 18:15:29 INFO: [Worker 0] Successfully saved trajectory data for house_2978 in 3.62s (batch: 3.36s, save: 0.26s)	[pipeline.py: 280]
+05/25 18:15:30 WARNING: [Worker 0] No trajectory data to save for house_2978	[pipeline.py: 229]
+05/25 18:15:30 INFO: [Worker 0] Worker 0 completed house 2978: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 18:15:30 INFO: [Worker 0] Worker 0 starting house 3059 (index 56/112)	[pipeline.py: 473]
+05/25 18:15:30 INFO: [Worker 0] Loaded 1 episodes for house 3059 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 18:15:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 18:15:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/94f253a91bc14f21be83592faf5891ff	[json_eval_task_sampler.py: 648]
+05/25 18:15:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e776cc1b82d54420a55e924510c027c5	[json_eval_task_sampler.py: 648]
+05/25 18:15:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bfcfd4c7bfa649259e047eb92e6a5c31	[json_eval_task_sampler.py: 648]
+05/25 18:15:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3059_ceiling.xml	[task_sampler.py: 797]
+05/25 18:15:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3059, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 18:15:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 18:15:35 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects	[json_eval_task_sampler.py: 686]
+05/25 18:15:35 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 18:15:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 18:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 18:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 18:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 18:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 18:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 18:15:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 18:15:35 INFO: [Worker 0] Sampled task 'Pick up the dark metal container with aged label and place it in or on the smooth gray bowl'	[task_sampler.py: 1136]
+05/25 18:15:35 INFO: [Worker 0] Worker 0 house 3059 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 18:15:35 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:15:36 WARNING: [Worker 0] Could not find object objagpsdevice_5ec82b191b4d44b299cb1fcea0308296_1_0_6 in scene	[object_manager.py: 1238]
+05/25 18:15:36 WARNING: [Worker 0] Could not find object soapdispenser_23e99c616e7c0667edeeacb9669a5e0b_1_0_6 in scene	[object_manager.py: 1238]
+05/25 18:15:36 WARNING: [Worker 0] Could not find object objabiplanemodel_7f229f1805c64ee491e0fda9844e053b_1_0_2 in scene	[object_manager.py: 1238]
+05/25 18:18:49 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 18:24:36 INFO: [Worker 0] Worker 0 house 3059 episode 0 object objavintagecontainer_1681199327f545f6bebc94b7408769ed_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 18:24:41 INFO: [Worker 0] Batching and saving trajectory data for house_3059: 1 episodes	[pipeline.py: 233]
+05/25 18:24:41 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:24:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:24:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3059	[save_utils.py: 703]
+05/25 18:24:44 INFO: [Worker 0] Successfully saved trajectory data for house_3059 in 3.51s (batch: 3.39s, save: 0.13s)	[pipeline.py: 280]
+05/25 18:24:45 WARNING: [Worker 0] No trajectory data to save for house_3059	[pipeline.py: 229]
+05/25 18:24:45 INFO: [Worker 0] Worker 0 completed house 3059: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 18:24:45 INFO: [Worker 0] Worker 0 starting house 3115 (index 57/112)	[pipeline.py: 473]
+05/25 18:24:45 INFO: [Worker 0] Loaded 1 episodes for house 3115 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 18:24:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 18:24:57 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/c7df0f7671d34fb9817d37067072f9ab	[json_eval_task_sampler.py: 648]
+05/25 18:24:57 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4	[json_eval_task_sampler.py: 648]
+05/25 18:24:57 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c2bd80794a3947238fe610f5733be9d2	[json_eval_task_sampler.py: 648]
+05/25 18:25:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3115_ceiling.xml	[task_sampler.py: 797]
+05/25 18:25:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3115, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 18:25:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 18:25:02 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects	[json_eval_task_sampler.py: 686]
+05/25 18:25:02 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 18:25:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 18:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 18:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 18:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 18:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 18:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 18:25:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 18:25:02 INFO: [Worker 0] Sampled task 'Pick up the triangle patch with eye and place it in or on the round bowl with feet'	[task_sampler.py: 1136]
+05/25 18:25:02 INFO: [Worker 0] Worker 0 house 3115 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 18:25:03 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:27:48 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 18:34:47 INFO: [Worker 0] Worker 0 house 3115 episode 0 object objapatch_c8c39f135f324c188448cfa37d63b1a4_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 18:34:52 INFO: [Worker 0] Batching and saving trajectory data for house_3115: 1 episodes	[pipeline.py: 233]
+05/25 18:34:52 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:34:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:34:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3115	[save_utils.py: 703]
+05/25 18:34:55 INFO: [Worker 0] Successfully saved trajectory data for house_3115 in 3.24s (batch: 3.10s, save: 0.14s)	[pipeline.py: 280]
+05/25 18:34:56 WARNING: [Worker 0] No trajectory data to save for house_3115	[pipeline.py: 229]
+05/25 18:34:56 INFO: [Worker 0] Worker 0 completed house 3115: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 18:34:56 INFO: [Worker 0] Worker 0 starting house 3146 (index 58/112)	[pipeline.py: 473]
+05/25 18:34:56 INFO: [Worker 0] Loaded 2 episodes for house 3146 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 18:34:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 18:35:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0b0079b036c845139d5823255a34da7a	[json_eval_task_sampler.py: 648]
+05/25 18:35:09 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_30	[json_eval_task_sampler.py: 648]
+05/25 18:35:09 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2b2f2afe691143b1a0d9c56141b028f9	[json_eval_task_sampler.py: 648]
+05/25 18:35:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3146_ceiling.xml	[task_sampler.py: 797]
+05/25 18:35:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3146, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 18:35:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 18:35:11 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects	[json_eval_task_sampler.py: 686]
+05/25 18:35:11 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 18:35:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 18:35:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 18:35:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 18:35:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 18:35:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 18:35:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 18:35:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 18:35:11 INFO: [Worker 0] Sampled task 'Pick up the turquoise handheld mirror with pink and place it in or on the bowl'	[task_sampler.py: 1136]
+05/25 18:35:11 INFO: [Worker 0] Worker 0 house 3146 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 18:35:12 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:37:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 18:43:21 INFO: [Worker 0] Worker 0 house 3146 episode 0 object objahandheldmirror_9878db7c7a6844c293d33d790cac2cdd_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 18:43:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 18:43:28 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0b0079b036c845139d5823255a34da7a	[json_eval_task_sampler.py: 648]
+05/25 18:43:28 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_30	[json_eval_task_sampler.py: 648]
+05/25 18:43:28 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2b2f2afe691143b1a0d9c56141b028f9	[json_eval_task_sampler.py: 648]
+05/25 18:43:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3146_ceiling.xml	[task_sampler.py: 797]
+05/25 18:43:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3146, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 18:43:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 18:43:31 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects	[json_eval_task_sampler.py: 686]
+05/25 18:43:31 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 18:43:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 18:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 18:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 18:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 18:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 18:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 18:43:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 18:43:32 INFO: [Worker 0] Sampled task 'Pick up the gray battery pack with cells and place it in or on the matte brown ceramic bowl'	[task_sampler.py: 1136]
+05/25 18:43:32 INFO: [Worker 0] Worker 0 house 3146 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 18:43:32 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:47:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 18:55:30 INFO: [Worker 0] Worker 0 house 3146 episode 1 object objabatterypack_8da91806d89b4510aea52c28d402f359_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 18:55:36 INFO: [Worker 0] Batching and saving trajectory data for house_3146: 2 episodes	[pipeline.py: 233]
+05/25 18:55:36 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:55:41 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:55:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:55:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:55:46 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3146	[save_utils.py: 703]
+05/25 18:55:46 INFO: [Worker 0] Successfully saved trajectory data for house_3146 in 9.56s (batch: 9.16s, save: 0.40s)	[pipeline.py: 280]
+05/25 18:55:47 WARNING: [Worker 0] No trajectory data to save for house_3146	[pipeline.py: 229]
+05/25 18:55:47 INFO: [Worker 0] Worker 0 completed house 3146: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 18:55:47 INFO: [Worker 0] Worker 0 starting house 3157 (index 59/112)	[pipeline.py: 473]
+05/25 18:55:47 INFO: [Worker 0] Loaded 1 episodes for house 3157 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 18:55:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 18:56:02 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/2df58d08f5604c058d43e00677d325b6	[json_eval_task_sampler.py: 648]
+05/25 18:56:02 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c7df0f7671d34fb9817d37067072f9ab	[json_eval_task_sampler.py: 648]
+05/25 18:56:02 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_8	[json_eval_task_sampler.py: 648]
+05/25 18:56:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3157_ceiling.xml	[task_sampler.py: 797]
+05/25 18:56:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3157, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 18:56:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 18:56:09 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects	[json_eval_task_sampler.py: 686]
+05/25 18:56:09 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 18:56:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 18:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 18:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 18:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 18:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 18:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 18:56:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 18:56:09 INFO: [Worker 0] Sampled task 'Pick up the pink dentures with natural off-white teeth and place it in or on the shallow round bowl with feet'	[task_sampler.py: 1136]
+05/25 18:56:09 INFO: [Worker 0] Worker 0 house 3157 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 18:56:10 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:56:11 WARNING: [Worker 0] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_7 in scene	[object_manager.py: 1238]
+05/25 18:56:11 WARNING: [Worker 0] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_7 in scene	[object_manager.py: 1238]
+05/25 18:56:11 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_7 in scene	[object_manager.py: 1238]
+05/25 18:59:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 19:08:44 INFO: [Worker 0] Worker 0 house 3157 episode 0 object objadentures_4fc005a4bb9f4ed49ad3b5255e87e720_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 19:08:48 INFO: [Worker 0] Batching and saving trajectory data for house_3157: 1 episodes	[pipeline.py: 233]
+05/25 19:08:48 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:08:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:08:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3157	[save_utils.py: 703]
+05/25 19:08:51 INFO: [Worker 0] Successfully saved trajectory data for house_3157 in 3.00s (batch: 2.84s, save: 0.16s)	[pipeline.py: 280]
+05/25 19:08:52 WARNING: [Worker 0] No trajectory data to save for house_3157	[pipeline.py: 229]
+05/25 19:08:52 INFO: [Worker 0] Worker 0 completed house 3157: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:08:52 INFO: [Worker 0] Worker 0 starting house 3242 (index 60/112)	[pipeline.py: 473]
+05/25 19:08:52 INFO: [Worker 0] Loaded 1 episodes for house 3242 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 19:08:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 19:08:55 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1bac786df9e446a795e442a83f49056a	[json_eval_task_sampler.py: 648]
+05/25 19:08:55 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/675213cdb6eb4b8ab4ca565f2e7f4fc4	[json_eval_task_sampler.py: 648]
+05/25 19:08:55 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/f42af504c27649c78412bafd25665e46	[json_eval_task_sampler.py: 648]
+05/25 19:09:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3242_ceiling.xml	[task_sampler.py: 797]
+05/25 19:09:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3242, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:09:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:09:00 INFO: [Worker 0] randomize_scene: Setting poses for 84 objects	[json_eval_task_sampler.py: 686]
+05/25 19:09:00 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:09:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:09:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:09:00 INFO: [Worker 0] Sampled task 'Pick up the large olive green clothespin and place it in or on the white bowl'	[task_sampler.py: 1136]
+05/25 19:09:00 INFO: [Worker 0] Worker 0 house 3242 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:09:00 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:09:01 WARNING: [Worker 0] Could not find object objachargingstation_992309af09dd47b68adfb5847d7fd3ab_1_0_5 in scene	[object_manager.py: 1238]
+05/25 19:10:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 19:15:16 INFO: [Worker 0] Worker 0 house 3242 episode 0 object objaclothespin_42ca19f6f28340d090ed5773924f5f83_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 19:15:20 INFO: [Worker 0] Batching and saving trajectory data for house_3242: 1 episodes	[pipeline.py: 233]
+05/25 19:15:20 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:15:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:15:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3242	[save_utils.py: 703]
+05/25 19:15:23 INFO: [Worker 0] Successfully saved trajectory data for house_3242 in 3.02s (batch: 2.91s, save: 0.11s)	[pipeline.py: 280]
+05/25 19:15:24 WARNING: [Worker 0] No trajectory data to save for house_3242	[pipeline.py: 229]
+05/25 19:15:24 INFO: [Worker 0] Worker 0 completed house 3242: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:15:24 INFO: [Worker 0] Worker 0 starting house 3297 (index 61/112)	[pipeline.py: 473]
+05/25 19:15:24 INFO: [Worker 0] Loaded 1 episodes for house 3297 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 19:15:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 19:15:32 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9e167f4b5fcd446e8ff3c4ca5b257286	[json_eval_task_sampler.py: 648]
+05/25 19:15:32 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_12	[json_eval_task_sampler.py: 648]
+05/25 19:15:32 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/21480103f9f44a52a5ee8bc37fb70bab	[json_eval_task_sampler.py: 648]
+05/25 19:15:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3297_ceiling.xml	[task_sampler.py: 797]
+05/25 19:15:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3297, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:15:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:15:34 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects	[json_eval_task_sampler.py: 686]
+05/25 19:15:34 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:15:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:15:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:15:34 INFO: [Worker 0] Sampled task 'Pick up the blue rectangular alarm clock with knob and place it in or on the smooth glossy golden bowl'	[task_sampler.py: 1136]
+05/25 19:15:34 INFO: [Worker 0] Worker 0 house 3297 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:15:35 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:17:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 19:21:24 INFO: [Worker 0] Worker 0 house 3297 episode 0 object alarmclock_7e1337b32a9e0d9439bef16e80df0de2_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 19:21:30 INFO: [Worker 0] Batching and saving trajectory data for house_3297: 1 episodes	[pipeline.py: 233]
+05/25 19:21:30 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:21:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:21:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3297	[save_utils.py: 703]
+05/25 19:21:34 INFO: [Worker 0] Successfully saved trajectory data for house_3297 in 4.62s (batch: 4.38s, save: 0.24s)	[pipeline.py: 280]
+05/25 19:21:35 WARNING: [Worker 0] No trajectory data to save for house_3297	[pipeline.py: 229]
+05/25 19:21:35 INFO: [Worker 0] Worker 0 completed house 3297: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:21:35 INFO: [Worker 0] Worker 0 starting house 3318 (index 62/112)	[pipeline.py: 473]
+05/25 19:21:35 INFO: [Worker 0] Loaded 1 episodes for house 3318 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 19:21:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 19:21:47 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/472cceee5a224ff6933e7baf31d16641	[json_eval_task_sampler.py: 648]
+05/25 19:21:47 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b8cba8b5a69543ce9875c40028261490	[json_eval_task_sampler.py: 648]
+05/25 19:21:47 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/fb56f8968a9c443897498a9ccf5c46d1	[json_eval_task_sampler.py: 648]
+05/25 19:21:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3318_ceiling.xml	[task_sampler.py: 797]
+05/25 19:21:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3318, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:21:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:21:54 INFO: [Worker 0] randomize_scene: Setting poses for 88 objects	[json_eval_task_sampler.py: 686]
+05/25 19:21:54 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:21:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:21:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:21:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:21:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:21:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:21:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:21:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:21:54 INFO: [Worker 0] Sampled task 'Pick up the antique iron with wooden handle and place it in or on the small beige bowl'	[task_sampler.py: 1136]
+05/25 19:21:54 INFO: [Worker 0] Worker 0 house 3318 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:21:54 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:24:14 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 19:31:20 INFO: [Worker 0] Worker 0 house 3318 episode 0 object objaantiqueiron_ba526f8cf97f46a49eb4012815659f80_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 19:31:24 INFO: [Worker 0] Batching and saving trajectory data for house_3318: 1 episodes	[pipeline.py: 233]
+05/25 19:31:24 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:31:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:31:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3318	[save_utils.py: 703]
+05/25 19:31:27 INFO: [Worker 0] Successfully saved trajectory data for house_3318 in 2.92s (batch: 2.76s, save: 0.16s)	[pipeline.py: 280]
+05/25 19:31:28 WARNING: [Worker 0] No trajectory data to save for house_3318	[pipeline.py: 229]
+05/25 19:31:28 INFO: [Worker 0] Worker 0 completed house 3318: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:31:28 INFO: [Worker 0] Worker 0 starting house 3348 (index 63/112)	[pipeline.py: 473]
+05/25 19:31:28 INFO: [Worker 0] Loaded 1 episodes for house 3348 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 19:31:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 19:31:50 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1df7263c6e094645987c61c5d60e67d5	[json_eval_task_sampler.py: 648]
+05/25 19:31:50 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2b5fd8656f2b43cba43cb0e25a2cb838	[json_eval_task_sampler.py: 648]
+05/25 19:31:50 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_19	[json_eval_task_sampler.py: 648]
+05/25 19:31:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3348_ceiling.xml	[task_sampler.py: 797]
+05/25 19:31:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3348, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:31:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:31:55 INFO: [Worker 0] randomize_scene: Setting poses for 84 objects	[json_eval_task_sampler.py: 686]
+05/25 19:31:55 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:31:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:31:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:31:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:31:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:31:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:31:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:31:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:31:55 INFO: [Worker 0] Sampled task 'Pick up the climbing shoe and place it in or on the glossy blue and brown bowl'	[task_sampler.py: 1136]
+05/25 19:31:55 INFO: [Worker 0] Worker 0 house 3348 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:31:55 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:34:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 19:40:21 INFO: [Worker 0] Worker 0 house 3348 episode 0 object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 19:40:26 INFO: [Worker 0] Batching and saving trajectory data for house_3348: 1 episodes	[pipeline.py: 233]
+05/25 19:40:26 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:40:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:40:29 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3348	[save_utils.py: 703]
+05/25 19:40:29 INFO: [Worker 0] Successfully saved trajectory data for house_3348 in 3.11s (batch: 2.98s, save: 0.13s)	[pipeline.py: 280]
+05/25 19:40:30 WARNING: [Worker 0] No trajectory data to save for house_3348	[pipeline.py: 229]
+05/25 19:40:30 INFO: [Worker 0] Worker 0 completed house 3348: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:40:30 INFO: [Worker 0] Worker 0 starting house 3406 (index 64/112)	[pipeline.py: 473]
+05/25 19:40:30 INFO: [Worker 0] Loaded 1 episodes for house 3406 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 19:40:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 19:40:52 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/5efb7a6940894b5a835b4de2f3cf1559	[json_eval_task_sampler.py: 648]
+05/25 19:40:52 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ac3628478f6c4042a16e77d6753fa413	[json_eval_task_sampler.py: 648]
+05/25 19:40:52 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_17	[json_eval_task_sampler.py: 648]
+05/25 19:40:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3406_ceiling.xml	[task_sampler.py: 797]
+05/25 19:40:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3406, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:40:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:40:58 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects	[json_eval_task_sampler.py: 686]
+05/25 19:40:58 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:40:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:40:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:40:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:40:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:40:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:40:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:40:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:40:58 INFO: [Worker 0] Sampled task 'Pick up the stone arrowhead and place it in or on the earthy rustic bowl with wear'	[task_sampler.py: 1136]
+05/25 19:40:58 INFO: [Worker 0] Worker 0 house 3406 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:40:58 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:40:59 WARNING: [Worker 0] Could not find object objadecorativewallpanel_eb7c0a2d36fb46bca4c8eb9c24bc54d2_1_0_7 in scene	[object_manager.py: 1238]
+05/25 19:52:59 INFO: [Worker 0] Worker 0 house 3406 episode 0 object objaarrowhead_3d8c9a062adc48038756dbc8b31ed1f6_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 19:53:04 INFO: [Worker 0] Batching and saving trajectory data for house_3406: 1 episodes	[pipeline.py: 233]
+05/25 19:53:04 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:53:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:53:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3406	[save_utils.py: 703]
+05/25 19:53:08 INFO: [Worker 0] Successfully saved trajectory data for house_3406 in 3.86s (batch: 3.58s, save: 0.28s)	[pipeline.py: 280]
+05/25 19:53:09 WARNING: [Worker 0] No trajectory data to save for house_3406	[pipeline.py: 229]
+05/25 19:53:09 INFO: [Worker 0] Worker 0 completed house 3406: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:53:09 INFO: [Worker 0] Worker 0 starting house 3448 (index 65/112)	[pipeline.py: 473]
+05/25 19:53:09 INFO: [Worker 0] Loaded 1 episodes for house 3448 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 19:53:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 19:53:32 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/39afab89520c460598805c0a6bad291c	[json_eval_task_sampler.py: 648]
+05/25 19:53:32 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_25	[json_eval_task_sampler.py: 648]
+05/25 19:53:32 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c2bd80794a3947238fe610f5733be9d2	[json_eval_task_sampler.py: 648]
+05/25 19:53:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3448_ceiling.xml	[task_sampler.py: 797]
+05/25 19:53:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3448, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:53:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:53:36 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects	[json_eval_task_sampler.py: 686]
+05/25 19:53:36 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:53:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:53:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:53:36 INFO: [Worker 0] Sampled task 'Pick up the golden ornate collar and place it in or on the simple round gray ceramic bowl'	[task_sampler.py: 1136]
+05/25 19:53:36 INFO: [Worker 0] Worker 0 house 3448 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:53:36 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:53:37 WARNING: [Worker 0] Could not find object objafacemask_7b64d99e7e9d4e459f2a4005d3e1c774_1_0_3 in scene	[object_manager.py: 1238]
+05/25 19:53:37 WARNING: [Worker 0] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_3 in scene	[object_manager.py: 1238]
+05/25 19:56:22 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 20:00:09 INFO: [Worker 0] Worker 0 house 3448 episode 0 object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 20:00:15 INFO: [Worker 0] Batching and saving trajectory data for house_3448: 1 episodes	[pipeline.py: 233]
+05/25 20:00:15 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:00:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:00:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3448	[save_utils.py: 703]
+05/25 20:00:18 INFO: [Worker 0] Successfully saved trajectory data for house_3448 in 2.99s (batch: 2.83s, save: 0.16s)	[pipeline.py: 280]
+05/25 20:00:18 WARNING: [Worker 0] No trajectory data to save for house_3448	[pipeline.py: 229]
+05/25 20:00:18 INFO: [Worker 0] Worker 0 completed house 3448: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:00:18 INFO: [Worker 0] Worker 0 starting house 3488 (index 66/112)	[pipeline.py: 473]
+05/25 20:00:18 INFO: [Worker 0] Loaded 1 episodes for house 3488 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 20:00:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 20:00:20 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d792e36c80784b53b987c84e304481a9	[json_eval_task_sampler.py: 648]
+05/25 20:00:20 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b4f97bfa98234ac58b2991d6ac0a18a9	[json_eval_task_sampler.py: 648]
+05/25 20:00:20 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/80f09dd8b3d34005b3625823091978af	[json_eval_task_sampler.py: 648]
+05/25 20:00:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3488_ceiling.xml	[task_sampler.py: 797]
+05/25 20:00:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3488, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:00:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:00:23 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects	[json_eval_task_sampler.py: 686]
+05/25 20:00:23 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:00:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:00:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:00:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:00:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:00:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:00:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:00:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:00:23 INFO: [Worker 0] Sampled task 'Pick up the sleek metal scissors with sharp blades and place it in or on the round rustic bowl'	[task_sampler.py: 1136]
+05/25 20:00:23 INFO: [Worker 0] Worker 0 house 3488 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:00:24 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:00:24 WARNING: [Worker 0] Could not find object objawoodensculpture_b7df4c6c794941339f1f5403ff83a367_1_0_6 in scene	[object_manager.py: 1238]
+05/25 20:02:48 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 20:08:26 INFO: [Worker 0] Worker 0 house 3488 episode 0 object objascissors_05a12bc9a23c4c7bb5a84601b61221ce_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 20:08:33 INFO: [Worker 0] Batching and saving trajectory data for house_3488: 1 episodes	[pipeline.py: 233]
+05/25 20:08:33 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:08:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:08:38 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3488	[save_utils.py: 703]
+05/25 20:08:38 INFO: [Worker 0] Successfully saved trajectory data for house_3488 in 4.96s (batch: 4.72s, save: 0.24s)	[pipeline.py: 280]
+05/25 20:08:39 WARNING: [Worker 0] No trajectory data to save for house_3488	[pipeline.py: 229]
+05/25 20:08:39 INFO: [Worker 0] Worker 0 completed house 3488: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:08:39 INFO: [Worker 0] Worker 0 starting house 3529 (index 67/112)	[pipeline.py: 473]
+05/25 20:08:39 INFO: [Worker 0] Loaded 1 episodes for house 3529 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 20:08:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 20:09:21 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/906fdc79f5d84e8e8b3b467e794a8c00	[json_eval_task_sampler.py: 648]
+05/25 20:09:21 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b63ca5b519ba4920a6288da00d9224bd	[json_eval_task_sampler.py: 648]
+05/25 20:09:21 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bdd36c94f3f74f22b02b8a069c8d97b7	[json_eval_task_sampler.py: 648]
+05/25 20:09:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3529_ceiling.xml	[task_sampler.py: 797]
+05/25 20:09:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3529, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:09:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:09:29 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects	[json_eval_task_sampler.py: 686]
+05/25 20:09:29 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:09:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:09:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:09:29 INFO: [Worker 0] Sampled task 'Pick up the stone arrowhead and place it in or on the square pink geometric box'	[task_sampler.py: 1136]
+05/25 20:09:29 INFO: [Worker 0] Worker 0 house 3529 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:09:29 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:21:59 INFO: [Worker 0] Worker 0 house 3529 episode 0 object objaarrowhead_b0dd68e8ff564e16a34ba85ca017325d_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 20:22:03 INFO: [Worker 0] Batching and saving trajectory data for house_3529: 1 episodes	[pipeline.py: 233]
+05/25 20:22:03 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:22:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:22:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3529	[save_utils.py: 703]
+05/25 20:22:07 INFO: [Worker 0] Successfully saved trajectory data for house_3529 in 3.23s (batch: 3.06s, save: 0.17s)	[pipeline.py: 280]
+05/25 20:22:07 WARNING: [Worker 0] No trajectory data to save for house_3529	[pipeline.py: 229]
+05/25 20:22:07 INFO: [Worker 0] Worker 0 completed house 3529: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:22:07 INFO: [Worker 0] Worker 0 starting house 3565 (index 68/112)	[pipeline.py: 473]
+05/25 20:22:07 INFO: [Worker 0] Loaded 1 episodes for house 3565 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 20:22:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 20:22:37 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_26	[json_eval_task_sampler.py: 648]
+05/25 20:22:37 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b4351af051964283968b5fed441ee844	[json_eval_task_sampler.py: 648]
+05/25 20:22:37 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/4c75946736424e5397f4eadd336e0bf1	[json_eval_task_sampler.py: 648]
+05/25 20:22:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3565_ceiling.xml	[task_sampler.py: 797]
+05/25 20:22:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3565, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:22:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:22:44 INFO: [Worker 0] randomize_scene: Setting poses for 93 objects	[json_eval_task_sampler.py: 686]
+05/25 20:22:44 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:22:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:22:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:22:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:22:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:22:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:22:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:22:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:22:44 INFO: [Worker 0] Sampled task 'Pick up the wooden sculpting tool with loop and place it in or on the rustic bowl'	[task_sampler.py: 1136]
+05/25 20:22:44 INFO: [Worker 0] Worker 0 house 3565 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:22:44 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:25:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 20:29:11 INFO: [Worker 0] Worker 0 house 3565 episode 0 object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 20:29:15 INFO: [Worker 0] Batching and saving trajectory data for house_3565: 1 episodes	[pipeline.py: 233]
+05/25 20:29:15 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:29:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:29:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3565	[save_utils.py: 703]
+05/25 20:29:18 INFO: [Worker 0] Successfully saved trajectory data for house_3565 in 2.96s (batch: 2.84s, save: 0.13s)	[pipeline.py: 280]
+05/25 20:29:19 WARNING: [Worker 0] No trajectory data to save for house_3565	[pipeline.py: 229]
+05/25 20:29:19 INFO: [Worker 0] Worker 0 completed house 3565: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:29:19 INFO: [Worker 0] Worker 0 starting house 3612 (index 69/112)	[pipeline.py: 473]
+05/25 20:29:19 INFO: [Worker 0] Loaded 1 episodes for house 3612 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 20:29:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 20:29:19 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/15607bdf52a64f81a7555de4cfad4029	[json_eval_task_sampler.py: 648]
+05/25 20:29:19 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_22	[json_eval_task_sampler.py: 648]
+05/25 20:29:19 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/fdfd829fe39049a69f6df2289b29dc7f	[json_eval_task_sampler.py: 648]
+05/25 20:29:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3612_ceiling.xml	[task_sampler.py: 797]
+05/25 20:29:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3612, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:29:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:29:20 INFO: [Worker 0] randomize_scene: Setting poses for 12 objects	[json_eval_task_sampler.py: 686]
+05/25 20:29:20 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:29:20 INFO: [Worker 0] Sampled task 'Pick up the orange plastic connector with slots and place it in or on the rectangular vintage metal storage tin'	[task_sampler.py: 1136]
+05/25 20:29:20 INFO: [Worker 0] Worker 0 house 3612 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:29:20 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:30:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 20:34:25 INFO: [Worker 0] Worker 0 house 3612 episode 0 object objaconnector_0c507124436e430a8fdcfbcb9b3ed700_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 20:34:29 INFO: [Worker 0] Batching and saving trajectory data for house_3612: 1 episodes	[pipeline.py: 233]
+05/25 20:34:29 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:34:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:34:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3612	[save_utils.py: 703]
+05/25 20:34:31 INFO: [Worker 0] Successfully saved trajectory data for house_3612 in 2.89s (batch: 2.75s, save: 0.14s)	[pipeline.py: 280]
+05/25 20:34:32 WARNING: [Worker 0] No trajectory data to save for house_3612	[pipeline.py: 229]
+05/25 20:34:32 INFO: [Worker 0] Worker 0 completed house 3612: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:34:32 INFO: [Worker 0] Worker 0 starting house 3656 (index 70/112)	[pipeline.py: 473]
+05/25 20:34:32 INFO: [Worker 0] Loaded 2 episodes for house 3656 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 20:34:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 20:34:58 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/93ef7da87b1e43fbb47f3b26b927f777	[json_eval_task_sampler.py: 648]
+05/25 20:34:58 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/44f5be7685c1439c85cf9bc36e78578a	[json_eval_task_sampler.py: 648]
+05/25 20:34:58 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2b5fd8656f2b43cba43cb0e25a2cb838	[json_eval_task_sampler.py: 648]
+05/25 20:35:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3656_ceiling.xml	[task_sampler.py: 797]
+05/25 20:35:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3656, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:35:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:35:03 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects	[json_eval_task_sampler.py: 686]
+05/25 20:35:03 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:35:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:35:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:35:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:35:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:35:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:35:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:35:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:35:03 INFO: [Worker 0] Sampled task 'Pick up the colorful geometric molecular model toy and place it in or on the glossy blue round bowl'	[task_sampler.py: 1136]
+05/25 20:35:03 INFO: [Worker 0] Worker 0 house 3656 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 20:35:03 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:42:05 INFO: [Worker 0] Worker 0 house 3656 episode 0 object objaeducationaltoy_3d86ad3a43be4e7faf00336577c4edd3_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 20:42:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 20:42:12 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/93ef7da87b1e43fbb47f3b26b927f777	[json_eval_task_sampler.py: 648]
+05/25 20:42:12 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/44f5be7685c1439c85cf9bc36e78578a	[json_eval_task_sampler.py: 648]
+05/25 20:42:12 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2b5fd8656f2b43cba43cb0e25a2cb838	[json_eval_task_sampler.py: 648]
+05/25 20:42:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3656_ceiling.xml	[task_sampler.py: 797]
+05/25 20:42:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3656, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:42:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:42:17 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects	[json_eval_task_sampler.py: 686]
+05/25 20:42:17 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:42:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:42:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:42:17 INFO: [Worker 0] Sampled task 'Pick up the glossy red tomato with twisting stem and place it in or on the blue ceramic pot with colorful face'	[task_sampler.py: 1136]
+05/25 20:42:17 INFO: [Worker 0] Worker 0 house 3656 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 20:42:17 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:44:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/25 20:49:14 INFO: [Worker 0] Worker 0 house 3656 episode 1 object objatomato_01e9b3bcc92545f1a2fd713c11cbc4c9_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 20:49:19 INFO: [Worker 0] Batching and saving trajectory data for house_3656: 2 episodes	[pipeline.py: 233]
+05/25 20:49:20 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:49:23 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:49:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:49:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:49:27 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3656	[save_utils.py: 703]
+05/25 20:49:27 INFO: [Worker 0] Successfully saved trajectory data for house_3656 in 7.83s (batch: 7.49s, save: 0.34s)	[pipeline.py: 280]
+05/25 20:49:28 WARNING: [Worker 0] No trajectory data to save for house_3656	[pipeline.py: 229]
+05/25 20:49:28 INFO: [Worker 0] Worker 0 completed house 3656: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 20:49:28 INFO: [Worker 0] Worker 0 starting house 3662 (index 71/112)	[pipeline.py: 473]
+05/25 20:49:28 INFO: [Worker 0] Loaded 1 episodes for house 3662 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 20:49:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 20:49:40 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bf83213efac34b3cb2ad6ac5ddaf05d9	[json_eval_task_sampler.py: 648]
+05/25 20:49:40 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/8c419f6d0cbc4580a2e2b9d273969b97	[json_eval_task_sampler.py: 648]
+05/25 20:49:40 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/94f253a91bc14f21be83592faf5891ff	[json_eval_task_sampler.py: 648]
+05/25 20:49:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3662_ceiling.xml	[task_sampler.py: 797]
+05/25 20:49:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3662, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:49:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:49:43 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects	[json_eval_task_sampler.py: 686]
+05/25 20:49:43 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:49:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:49:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:49:43 INFO: [Worker 0] Sampled task 'Pick up the purple flask and place it in or on the round wooden bowl with grain'	[task_sampler.py: 1136]
+05/25 20:49:43 INFO: [Worker 0] Worker 0 house 3662 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:49:43 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:58:15 INFO: [Worker 0] Worker 0 house 3662 episode 0 object objaflask_c0b5678842064353972d518a67f1ff13_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 20:58:19 INFO: [Worker 0] Batching and saving trajectory data for house_3662: 1 episodes	[pipeline.py: 233]
+05/25 20:58:19 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:58:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:58:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3662	[save_utils.py: 703]
+05/25 20:58:23 INFO: [Worker 0] Successfully saved trajectory data for house_3662 in 3.57s (batch: 3.38s, save: 0.18s)	[pipeline.py: 280]
+05/25 20:58:24 WARNING: [Worker 0] No trajectory data to save for house_3662	[pipeline.py: 229]
+05/25 20:58:24 INFO: [Worker 0] Worker 0 completed house 3662: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:58:24 INFO: [Worker 0] Worker 0 starting house 3713 (index 72/112)	[pipeline.py: 473]
+05/25 20:58:24 INFO: [Worker 0] Loaded 1 episodes for house 3713 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 20:58:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 20:59:34 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1e23d9b649a643528ce00de750e858de	[json_eval_task_sampler.py: 648]
+05/25 20:59:34 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/12ca824c9c81470d994ceccb4b5a9061	[json_eval_task_sampler.py: 648]
+05/25 20:59:34 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/4bf7b7b26a704818b1ed3d703a11855b	[json_eval_task_sampler.py: 648]
+05/25 20:59:35 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 20:59:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3713_ceiling.xml	[task_sampler.py: 797]
+05/25 20:59:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3713, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:59:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:59:45 INFO: [Worker 0] randomize_scene: Setting poses for 105 objects	[json_eval_task_sampler.py: 686]
+05/25 20:59:45 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:59:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:59:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:59:45 INFO: [Worker 0] Sampled task 'Pick up the vintage mobile phone and place it in or on the pixelated ramen bowl'	[task_sampler.py: 1136]
+05/25 20:59:45 INFO: [Worker 0] Worker 0 house 3713 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:59:46 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:59:47 WARNING: [Worker 0] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_4 in scene	[object_manager.py: 1238]
+05/25 21:25:04 INFO: [Worker 0] Worker 0 house 3713 episode 0 object objavintagemobilephone_e1a072af323f4d358bad054195353b96_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 21:25:08 INFO: [Worker 0] Batching and saving trajectory data for house_3713: 1 episodes	[pipeline.py: 233]
+05/25 21:25:08 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 21:25:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 21:25:12 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3713	[save_utils.py: 703]
+05/25 21:25:12 INFO: [Worker 0] Successfully saved trajectory data for house_3713 in 3.44s (batch: 3.25s, save: 0.20s)	[pipeline.py: 280]
+05/25 21:25:13 WARNING: [Worker 0] No trajectory data to save for house_3713	[pipeline.py: 229]
+05/25 21:25:13 INFO: [Worker 0] Worker 0 completed house 3713: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 21:25:13 INFO: [Worker 0] Worker 0 starting house 3769 (index 73/112)	[pipeline.py: 473]
+05/25 21:25:13 INFO: [Worker 0] Loaded 1 episodes for house 3769 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 21:25:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 21:25:16 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_12	[json_eval_task_sampler.py: 648]
+05/25 21:25:16 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/976f5b6e9a1344628642051f680b176b	[json_eval_task_sampler.py: 648]
+05/25 21:25:16 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/836b48b21dcb4842a208c66f106abf18	[json_eval_task_sampler.py: 648]
+05/25 21:25:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3769_ceiling.xml	[task_sampler.py: 797]
+05/25 21:25:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3769, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 21:25:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 21:25:23 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects	[json_eval_task_sampler.py: 686]
+05/25 21:25:23 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 21:25:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 21:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 21:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 21:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 21:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 21:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 21:25:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 21:25:23 INFO: [Worker 0] Sampled task 'Pick up the old triangular metal stirrup and place it in or on the round terracotta clay serving dish'	[task_sampler.py: 1136]
+05/25 21:25:23 INFO: [Worker 0] Worker 0 house 3769 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 21:25:23 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 21:25:24 WARNING: [Worker 0] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_5 in scene	[object_manager.py: 1238]
+05/25 21:25:24 WARNING: [Worker 0] Could not find object objaheaddress_017a1cee8b614bacaeb030e17545ccac_1_0_5 in scene	[object_manager.py: 1238]
+05/25 21:25:24 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene	[object_manager.py: 1238]
+05/25 21:33:43 INFO: [Worker 0] Worker 0 house 3769 episode 0 object objastirrup_8732e5243857451ba4a3447c1eec0771_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 21:33:47 INFO: [Worker 0] Batching and saving trajectory data for house_3769: 1 episodes	[pipeline.py: 233]
+05/25 21:33:47 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 21:33:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 21:33:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3769	[save_utils.py: 703]
+05/25 21:33:51 INFO: [Worker 0] Successfully saved trajectory data for house_3769 in 3.74s (batch: 3.59s, save: 0.14s)	[pipeline.py: 280]
+05/25 21:33:52 WARNING: [Worker 0] No trajectory data to save for house_3769	[pipeline.py: 229]
+05/25 21:33:52 INFO: [Worker 0] Worker 0 completed house 3769: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 21:33:52 INFO: [Worker 0] Worker 0 starting house 3826 (index 74/112)	[pipeline.py: 473]
+05/25 21:33:52 INFO: [Worker 0] Loaded 1 episodes for house 3826 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 21:33:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/25 21:33:57 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/27dd012c10e64049b8ca900fe86f077f	[json_eval_task_sampler.py: 648]
+05/25 21:33:57 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/659e6917a5b145fc88b46882fde3764d	[json_eval_task_sampler.py: 648]
+05/25 21:33:57 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_13	[json_eval_task_sampler.py: 648]
+05/25 21:34:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3826_ceiling.xml	[task_sampler.py: 797]
+05/25 21:34:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3826, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 21:34:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 21:34:05 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects	[json_eval_task_sampler.py: 686]
+05/25 21:34:05 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 21:34:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 21:34:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 21:34:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 21:34:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 21:34:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 21:34:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 21:34:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 21:34:05 INFO: [Worker 0] Sampled task 'Pick up the dark shield emblem with crown and creature and place it in or on the white ceramic bowl with chicken salad'	[task_sampler.py: 1136]
+05/25 21:34:05 INFO: [Worker 0] Worker 0 house 3826 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 21:34:05 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 21:41:23 INFO: [Worker 0] Worker 0 house 3826 episode 0 object objadecorativeemblem_c2343ffc0aad4b8695b55ad3db3ce814_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 21:41:26 INFO: [Worker 0] Batching and saving trajectory data for house_3826: 1 episodes	[pipeline.py: 233]
+05/25 21:41:26 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 21:41:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 21:41:29 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3826	[save_utils.py: 703]
+05/25 21:41:29 INFO: [Worker 0] Successfully saved trajectory data for house_3826 in 2.47s (batch: 2.36s, save: 0.11s)	[pipeline.py: 280]
+05/25 21:41:29 WARNING: [Worker 0] No trajectory data to save for house_3826	[pipeline.py: 229]
+05/25 21:41:29 INFO: [Worker 0] Worker 0 completed house 3826: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 21:41:29 INFO: [Worker 0] Worker 0 starting house 3886 (index 75/112)	[pipeline.py: 473]
+05/25 21:41:29 INFO: [Worker 0] Loaded 1 episodes for house 3886 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/25 21:41:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 00:53:46 INFO: Received SIGTERM. Initiating graceful shutdown...	[pipeline.py: 1260]
+05/26 00:54:22 INFO: Received SIGTERM. Initiating graceful shutdown...	[pipeline.py: 1260]
diff --git a/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log b/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log
new file mode 100644
index 0000000000000000000000000000000000000000..b90604cbea03c309f4900722bfc999b84040e3b6
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log
@@ -0,0 +1,231 @@
+05/26 00:59:03 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 677]
+05/26 00:59:03 INFO: Starting house-by-house rollout of 37 houses with 2 episodes each (74 total episodes) using 1 worker processes	[pipeline.py: 1279]
+05/26 00:59:03 INFO: Evaluation configuration:	[pipeline.py: 1286]
+05/26 00:59:03 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05'),
+ 'camera_config': None,
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'val',
+ 'datagen_profiler': False,
+ 'end_on_success': True,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': False,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903'),
+ 'policy_config': {'action_chunk_size': 8,
+                   'action_move_group_names': ['arm', 'gripper'],
+                   'action_spec': {'arm': 7, 'gripper': 1},
+                   'action_type': 'joint_pos_rel',
+                   'allow_create_prompt_embedding': True,
+                   'camera_names': ['droid_shoulder_light_randomization',
+                                    'wrist_camera_zed_mini'],
+                   'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt',
+                   'device': 'cuda:0',
+                   'name': 'wan_molmobot_franka',
+                   'obs_camera_name': 'droid_shoulder_light_randomization',
+                   'obs_image_key': 'rgb_head',
+                   'obs_state_key': 'robot_state',
+                   'obs_wrist_camera_name': 'wrist_camera_zed_mini',
+                   'obs_wrist_image_key': 'rgb_wrist',
+                   'policy_cls': <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'>,
+                   'policy_type': 'learned',
+                   'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan',
+                   't5_tokenizer_path': 'google/umt5-xxl',
+                   'task_description_fallback': 'manipulate the target object',
+                   'text_context_key': 'text_context',
+                   'text_embedding_device': 'cpu',
+                   'text_embedding_dtype': 'bf16',
+                   'text_embedding_text_len': 512,
+                   'use_ema': False,
+                   'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'},
+ 'policy_dt_ms': 66.0,
+ 'profile': False,
+ 'profiler': None,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': False,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'base_size': [0.5, 0.5, 0.58],
+                  'command_mode': {'arm': 'joint_rel_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'perturb_texture_probability': 0.7,
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'scene_dataset': 'procthor-10k',
+ 'seed': 42,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'object_poses': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'task_cls': None,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 450,
+ 'task_sampler_config': {'check_robot_placement_visibility': True,
+                         'enable_texture_randomization': False,
+                         'house_inds': [3886,
+                                        3916,
+                                        3961,
+                                        4005,
+                                        4041,
+                                        4124,
+                                        4155,
+                                        4163,
+                                        4256,
+                                        4322,
+                                        4365,
+                                        4403,
+                                        4441,
+                                        4505,
+                                        4511,
+                                        4556,
+                                        4634,
+                                        4686,
+                                        4723,
+                                        4750,
+                                        4796,
+                                        4836,
+                                        4900,
+                                        4954,
+                                        4965,
+                                        5009,
+                                        5075,
+                                        5153,
+                                        5178,
+                                        5189,
+                                        5262,
+                                        5323,
+                                        5408,
+                                        5442,
+                                        5482,
+                                        5511,
+                                        5555],
+                         'load_robot_from_file': True,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 10,
+                         'max_allowed_sequential_task_sampler_failures': 10,
+                         'max_asset_failures': 10,
+                         'max_tasks': 10000,
+                         'max_total_attempts_multiplier': 6,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'robot_placement_exclusion_threshold': 0.15,
+                         'robot_placement_rotation_range_rad': 0.7853981633974483,
+                         'samples_per_house': 2,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.task_sampler.BaseMujocoTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'pick',
+ 'terminate_upon_success': False,
+ 'use_filament': True,
+ 'use_passive_viewer': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'wandb_name': None,
+ 'wandb_project': 'mlspaces-benchmark-eval'}	[pipeline.py: 1287]
+05/26 00:59:03 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler	[pipeline.py: 439]
+05/26 00:59:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 00:59:03 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler	[pipeline.py: 445]
+05/26 00:59:03 INFO: [Worker 0] Worker 0 starting house 3886 (index 0/37)	[pipeline.py: 473]
+05/26 00:59:03 INFO: [Worker 0] Loaded 1 episodes for house 3886 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 00:59:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 01:02:36 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_12	[json_eval_task_sampler.py: 648]
+05/26 01:02:36 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_7	[json_eval_task_sampler.py: 648]
+05/26 01:02:36 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/977c0bb0114e4728b7c6ccb89da913ec	[json_eval_task_sampler.py: 648]
+05/26 01:02:36 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/26 01:02:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3886_ceiling.xml	[task_sampler.py: 797]
+05/26 01:02:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3886, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:02:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:02:38 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects	[json_eval_task_sampler.py: 686]
+05/26 01:02:38 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:02:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:02:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:02:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:02:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:02:42 INFO: [Worker 0] Sampled task 'Pick up the wooden handle axe and place it in or on the glossy translucent light blue bowl'	[task_sampler.py: 1136]
+05/26 01:02:42 INFO: [Worker 0] Worker 0 house 3886 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:02:42 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:02:42 WARNING: [Worker 0] Could not find object objahandaxe_edf08aca9c6b4b598c267da1596b58d4_1_0_2 in scene	[object_manager.py: 1238]
+05/26 01:02:42 WARNING: [Worker 0] Could not find object bowl_4d97da0c296398947839b0e020453a0f_1_0_2 in scene	[object_manager.py: 1238]
+05/26 01:08:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 01:12:53 INFO: [Worker 0] Worker 0 house 3886 episode 0 object objahandaxe_ebb899473a5a41649e6cb25f3b27563b_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 01:12:59 INFO: [Worker 0] Batching and saving trajectory data for house_3886: 1 episodes	[pipeline.py: 233]
+05/26 01:12:59 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:13:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:13:03 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/house_3886	[save_utils.py: 703]
+05/26 01:13:03 INFO: [Worker 0] Successfully saved trajectory data for house_3886 in 4.22s (batch: 3.96s, save: 0.26s)	[pipeline.py: 280]
+05/26 01:13:04 WARNING: [Worker 0] No trajectory data to save for house_3886	[pipeline.py: 229]
+05/26 01:13:04 INFO: [Worker 0] Worker 0 completed house 3886: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 01:13:04 INFO: [Worker 0] Worker 0 starting house 3916 (index 1/37)	[pipeline.py: 473]
+05/26 01:13:04 INFO: [Worker 0] Loaded 1 episodes for house 3916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 01:13:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 01:13:04 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/c7df0f7671d34fb9817d37067072f9ab	[json_eval_task_sampler.py: 648]
+05/26 01:13:04 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_27	[json_eval_task_sampler.py: 648]
+05/26 01:13:04 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/DecorativeBox2	[json_eval_task_sampler.py: 648]
+05/26 01:13:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3916_ceiling.xml	[task_sampler.py: 797]
+05/26 01:13:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3916, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:13:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:13:09 INFO: [Worker 0] randomize_scene: Setting poses for 13 objects	[json_eval_task_sampler.py: 686]
+05/26 01:13:09 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:13:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:13:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:13:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:13:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:13:09 INFO: [Worker 0] Sampled task 'Pick up the patriotic jet and place it in or on the shallow round bowl with feet'	[task_sampler.py: 1136]
+05/26 01:13:09 INFO: [Worker 0] Worker 0 house 3916 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:13:09 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:16:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 01:23:51 INFO: Received SIGTERM. Initiating graceful shutdown...	[pipeline.py: 1260]
+05/26 01:23:51 INFO: [Worker 0] Worker 0 house 3916 episode 0 object objatoyjet_cd2a4b5fdf9b4b5b83de34c24cec1f56_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 01:23:56 INFO: [Worker 0] Worker 0 house 3916 shutdown requested, skipping save	[pipeline.py: 1214]
+05/26 01:23:56 INFO: [Worker 0] Worker 0 received shutdown signal, cleaning up...	[pipeline.py: 460]
+05/26 01:23:56 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 526]
+05/26 01:23:56 INFO: Completed 2 houses, skipped 0 houses	[pipeline.py: 1496]
+05/26 01:23:56 INFO: Success count: 0, Total count: 2	[pipeline.py: 1499]
+05/26 01:23:56 INFO: Success rate: 0.00%	[pipeline.py: 1500]
diff --git a/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/running_log.log b/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/running_log.log
new file mode 100644
index 0000000000000000000000000000000000000000..03ec746cff27c0bf36145ecdfd38ac3d94fefe16
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/running_log.log
@@ -0,0 +1,1279 @@
+05/26 01:04:41 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 677]
+05/26 01:04:41 INFO: Starting house-by-house rollout of 37 houses with 2 episodes each (74 total episodes) using 1 worker processes	[pipeline.py: 1279]
+05/26 01:04:41 INFO: Evaluation configuration:	[pipeline.py: 1286]
+05/26 01:04:41 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05'),
+ 'camera_config': None,
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'val',
+ 'datagen_profiler': False,
+ 'end_on_success': True,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': False,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441'),
+ 'policy_config': {'action_chunk_size': 8,
+                   'action_move_group_names': ['arm', 'gripper'],
+                   'action_spec': {'arm': 7, 'gripper': 1},
+                   'action_type': 'joint_pos_rel',
+                   'allow_create_prompt_embedding': True,
+                   'camera_names': ['droid_shoulder_light_randomization',
+                                    'wrist_camera_zed_mini'],
+                   'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt',
+                   'device': 'cuda:0',
+                   'name': 'wan_molmobot_franka',
+                   'obs_camera_name': 'droid_shoulder_light_randomization',
+                   'obs_image_key': 'rgb_head',
+                   'obs_state_key': 'robot_state',
+                   'obs_wrist_camera_name': 'wrist_camera_zed_mini',
+                   'obs_wrist_image_key': 'rgb_wrist',
+                   'policy_cls': <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'>,
+                   'policy_type': 'learned',
+                   'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan',
+                   't5_tokenizer_path': 'google/umt5-xxl',
+                   'task_description_fallback': 'manipulate the target object',
+                   'text_context_key': 'text_context',
+                   'text_embedding_device': 'cpu',
+                   'text_embedding_dtype': 'bf16',
+                   'text_embedding_text_len': 512,
+                   'use_ema': False,
+                   'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'},
+ 'policy_dt_ms': 66.0,
+ 'profile': False,
+ 'profiler': None,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': False,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'base_size': [0.5, 0.5, 0.58],
+                  'command_mode': {'arm': 'joint_rel_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'perturb_texture_probability': 0.7,
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'scene_dataset': 'procthor-10k',
+ 'seed': 42,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'object_poses': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'task_cls': None,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 450,
+ 'task_sampler_config': {'check_robot_placement_visibility': True,
+                         'enable_texture_randomization': False,
+                         'house_inds': [3886,
+                                        3916,
+                                        3961,
+                                        4005,
+                                        4041,
+                                        4124,
+                                        4155,
+                                        4163,
+                                        4256,
+                                        4322,
+                                        4365,
+                                        4403,
+                                        4441,
+                                        4505,
+                                        4511,
+                                        4556,
+                                        4634,
+                                        4686,
+                                        4723,
+                                        4750,
+                                        4796,
+                                        4836,
+                                        4900,
+                                        4954,
+                                        4965,
+                                        5009,
+                                        5075,
+                                        5153,
+                                        5178,
+                                        5189,
+                                        5262,
+                                        5323,
+                                        5408,
+                                        5442,
+                                        5482,
+                                        5511,
+                                        5555],
+                         'load_robot_from_file': True,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 10,
+                         'max_allowed_sequential_task_sampler_failures': 10,
+                         'max_asset_failures': 10,
+                         'max_tasks': 10000,
+                         'max_total_attempts_multiplier': 6,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'robot_placement_exclusion_threshold': 0.15,
+                         'robot_placement_rotation_range_rad': 0.7853981633974483,
+                         'samples_per_house': 2,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.task_sampler.BaseMujocoTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'pick',
+ 'terminate_upon_success': False,
+ 'use_filament': True,
+ 'use_passive_viewer': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'wandb_name': None,
+ 'wandb_project': 'mlspaces-benchmark-eval'}	[pipeline.py: 1287]
+05/26 01:04:41 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler	[pipeline.py: 439]
+05/26 01:04:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 01:04:41 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler	[pipeline.py: 445]
+05/26 01:04:41 INFO: [Worker 0] Worker 0 starting house 3886 (index 0/37)	[pipeline.py: 473]
+05/26 01:04:41 INFO: [Worker 0] Loaded 1 episodes for house 3886 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 01:04:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 01:04:46 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_12	[json_eval_task_sampler.py: 648]
+05/26 01:04:46 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_7	[json_eval_task_sampler.py: 648]
+05/26 01:04:46 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/977c0bb0114e4728b7c6ccb89da913ec	[json_eval_task_sampler.py: 648]
+05/26 01:04:46 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/26 01:04:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3886_ceiling.xml	[task_sampler.py: 797]
+05/26 01:04:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3886, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:04:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:04:54 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects	[json_eval_task_sampler.py: 686]
+05/26 01:04:55 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:04:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:04:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:04:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:04:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:05:04 INFO: [Worker 0] Sampled task 'Pick up the wooden handle axe and place it in or on the glossy translucent light blue bowl'	[task_sampler.py: 1136]
+05/26 01:05:04 INFO: [Worker 0] Worker 0 house 3886 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:05:04 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:05:04 WARNING: [Worker 0] Could not find object objahandaxe_edf08aca9c6b4b598c267da1596b58d4_1_0_2 in scene	[object_manager.py: 1238]
+05/26 01:05:04 WARNING: [Worker 0] Could not find object bowl_4d97da0c296398947839b0e020453a0f_1_0_2 in scene	[object_manager.py: 1238]
+05/26 01:09:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 01:13:00 INFO: [Worker 0] Worker 0 house 3886 episode 0 object objahandaxe_ebb899473a5a41649e6cb25f3b27563b_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 01:13:05 INFO: [Worker 0] Batching and saving trajectory data for house_3886: 1 episodes	[pipeline.py: 233]
+05/26 01:13:05 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:13:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:13:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3886	[save_utils.py: 703]
+05/26 01:13:11 INFO: [Worker 0] Successfully saved trajectory data for house_3886 in 5.83s (batch: 5.58s, save: 0.26s)	[pipeline.py: 280]
+05/26 01:13:12 WARNING: [Worker 0] No trajectory data to save for house_3886	[pipeline.py: 229]
+05/26 01:13:12 INFO: [Worker 0] Worker 0 completed house 3886: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 01:13:12 INFO: [Worker 0] Worker 0 starting house 3916 (index 1/37)	[pipeline.py: 473]
+05/26 01:13:12 INFO: [Worker 0] Loaded 1 episodes for house 3916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 01:13:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 01:13:12 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/c7df0f7671d34fb9817d37067072f9ab	[json_eval_task_sampler.py: 648]
+05/26 01:13:12 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_27	[json_eval_task_sampler.py: 648]
+05/26 01:13:12 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/DecorativeBox2	[json_eval_task_sampler.py: 648]
+05/26 01:13:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3916_ceiling.xml	[task_sampler.py: 797]
+05/26 01:13:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3916, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:13:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:13:16 INFO: [Worker 0] randomize_scene: Setting poses for 13 objects	[json_eval_task_sampler.py: 686]
+05/26 01:13:16 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:13:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:13:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:13:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:13:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:13:16 INFO: [Worker 0] Sampled task 'Pick up the patriotic jet and place it in or on the shallow round bowl with feet'	[task_sampler.py: 1136]
+05/26 01:13:16 INFO: [Worker 0] Worker 0 house 3916 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:13:16 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:16:54 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 01:24:23 INFO: [Worker 0] Worker 0 house 3916 episode 0 object objatoyjet_cd2a4b5fdf9b4b5b83de34c24cec1f56_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 01:24:26 INFO: [Worker 0] Batching and saving trajectory data for house_3916: 1 episodes	[pipeline.py: 233]
+05/26 01:24:26 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:24:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:24:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3916	[save_utils.py: 703]
+05/26 01:24:28 INFO: [Worker 0] Successfully saved trajectory data for house_3916 in 2.21s (batch: 2.12s, save: 0.09s)	[pipeline.py: 280]
+05/26 01:24:28 WARNING: [Worker 0] No trajectory data to save for house_3916	[pipeline.py: 229]
+05/26 01:24:28 INFO: [Worker 0] Worker 0 completed house 3916: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 01:24:28 INFO: [Worker 0] Worker 0 starting house 3961 (index 2/37)	[pipeline.py: 473]
+05/26 01:24:28 INFO: [Worker 0] Loaded 1 episodes for house 3961 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 01:24:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 01:26:31 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/496bd9f05a714e608a41a24b169937f6	[json_eval_task_sampler.py: 648]
+05/26 01:26:31 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/12ca824c9c81470d994ceccb4b5a9061	[json_eval_task_sampler.py: 648]
+05/26 01:26:31 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2911e8c87d49402c9e3c18277c8b2b2a	[json_eval_task_sampler.py: 648]
+05/26 01:26:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3961_ceiling.xml	[task_sampler.py: 797]
+05/26 01:26:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3961, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:26:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:26:33 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects	[json_eval_task_sampler.py: 686]
+05/26 01:26:33 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:26:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:26:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:26:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:26:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:26:33 INFO: [Worker 0] Sampled task 'Pick up the beige calculator with radio and place it in or on the pixelated bowl filled with ramen'	[task_sampler.py: 1136]
+05/26 01:26:33 INFO: [Worker 0] Worker 0 house 3961 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:26:33 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:26:33 WARNING: [Worker 0] Could not find object objafantasyplant_c8251feed92f41f197376ab4fd543e27_1_0_6 in scene	[object_manager.py: 1238]
+05/26 01:26:33 WARNING: [Worker 0] Could not find object objamannequinhand_9507be033ab14d248bc3479e16927993_1_0_6 in scene	[object_manager.py: 1238]
+05/26 01:26:33 WARNING: [Worker 0] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_6 in scene	[object_manager.py: 1238]
+05/26 01:26:33 WARNING: [Worker 0] Could not find object apple_ff93afa9f54bdc5d2bd30356940afcac_1_0_6 in scene	[object_manager.py: 1238]
+05/26 01:26:33 WARNING: [Worker 0] Could not find object objastoneslab_31b90e243892445380948dc39af237cf_1_0_7 in scene	[object_manager.py: 1238]
+05/26 01:30:00 INFO: [Worker 0] Worker 0 house 3961 episode 0 object objacalculatorradio_d17ba864b7a94eacaa34ee919210ba8d_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 01:30:03 INFO: [Worker 0] Batching and saving trajectory data for house_3961: 1 episodes	[pipeline.py: 233]
+05/26 01:30:03 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:30:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:30:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3961	[save_utils.py: 703]
+05/26 01:30:06 INFO: [Worker 0] Successfully saved trajectory data for house_3961 in 2.13s (batch: 2.03s, save: 0.10s)	[pipeline.py: 280]
+05/26 01:30:06 WARNING: [Worker 0] No trajectory data to save for house_3961	[pipeline.py: 229]
+05/26 01:30:06 INFO: [Worker 0] Worker 0 completed house 3961: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 01:30:06 INFO: [Worker 0] Worker 0 starting house 4005 (index 3/37)	[pipeline.py: 473]
+05/26 01:30:06 INFO: [Worker 0] Loaded 1 episodes for house 4005 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 01:30:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 01:33:24 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/4b5c2f816e814756960ac3be616fd29d	[json_eval_task_sampler.py: 648]
+05/26 01:33:24 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2df58d08f5604c058d43e00677d325b6	[json_eval_task_sampler.py: 648]
+05/26 01:33:24 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/74f5c16ba1f5406ba30bda961f0c0bd1	[json_eval_task_sampler.py: 648]
+05/26 01:33:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4005_ceiling.xml	[task_sampler.py: 797]
+05/26 01:33:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4005, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:33:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:33:29 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects	[json_eval_task_sampler.py: 686]
+05/26 01:33:29 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:33:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:33:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:33:29 INFO: [Worker 0] Sampled task 'Pick up the dslr camera and place it in or on the blue ceramic bottle'	[task_sampler.py: 1136]
+05/26 01:33:29 INFO: [Worker 0] Worker 0 house 4005 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:33:29 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:40:00 INFO: [Worker 0] Worker 0 house 4005 episode 0 object objadslrcamera_74868e16ced243c088207e5d7da8c750_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/26 01:40:05 INFO: [Worker 0] Batching and saving trajectory data for house_4005: 1 episodes	[pipeline.py: 233]
+05/26 01:40:05 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:40:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:40:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4005	[save_utils.py: 703]
+05/26 01:40:08 INFO: [Worker 0] Successfully saved trajectory data for house_4005 in 3.42s (batch: 3.33s, save: 0.09s)	[pipeline.py: 280]
+05/26 01:40:09 WARNING: [Worker 0] No trajectory data to save for house_4005	[pipeline.py: 229]
+05/26 01:40:09 INFO: [Worker 0] Worker 0 completed house 4005: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 01:40:09 INFO: [Worker 0] Worker 0 starting house 4041 (index 4/37)	[pipeline.py: 473]
+05/26 01:40:09 INFO: [Worker 0] Loaded 1 episodes for house 4041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 01:40:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 01:41:21 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/3339ce474c3d4fb3a35952f476ca1e4a	[json_eval_task_sampler.py: 648]
+05/26 01:41:21 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/936714802d2849bea3efb1eb5c83cee6	[json_eval_task_sampler.py: 648]
+05/26 01:41:21 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bfcfd4c7bfa649259e047eb92e6a5c31	[json_eval_task_sampler.py: 648]
+05/26 01:41:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4041_ceiling.xml	[task_sampler.py: 797]
+05/26 01:41:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4041, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:41:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:41:23 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects	[json_eval_task_sampler.py: 686]
+05/26 01:41:23 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:41:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:41:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:41:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:41:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:41:23 INFO: [Worker 0] Sampled task 'Pick up the yellow kitchen knife and place it in or on the irregular shaped reddish clay bowl'	[task_sampler.py: 1136]
+05/26 01:41:23 INFO: [Worker 0] Worker 0 house 4041 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:41:23 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:41:23 WARNING: [Worker 0] Could not find object apple_523cec3bd66eec1b41ffd2506874d275_1_0_2 in scene	[object_manager.py: 1238]
+05/26 01:43:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 01:45:51 INFO: [Worker 0] Worker 0 house 4041 episode 0 object knife_0bc93f198121d33ac4030a34bfc944a4_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 01:45:54 INFO: [Worker 0] Batching and saving trajectory data for house_4041: 1 episodes	[pipeline.py: 233]
+05/26 01:45:54 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:45:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:45:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4041	[save_utils.py: 703]
+05/26 01:45:56 INFO: [Worker 0] Successfully saved trajectory data for house_4041 in 2.25s (batch: 2.16s, save: 0.09s)	[pipeline.py: 280]
+05/26 01:45:56 WARNING: [Worker 0] No trajectory data to save for house_4041	[pipeline.py: 229]
+05/26 01:45:56 INFO: [Worker 0] Worker 0 completed house 4041: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 01:45:56 INFO: [Worker 0] Worker 0 starting house 4124 (index 5/37)	[pipeline.py: 473]
+05/26 01:45:56 INFO: [Worker 0] Loaded 1 episodes for house 4124 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 01:45:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 01:53:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7bcc0425058142c59255979a2b61f0d2	[json_eval_task_sampler.py: 648]
+05/26 01:53:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a6cfd144a62e446c92f0987fb81d584f	[json_eval_task_sampler.py: 648]
+05/26 01:53:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/93ef7da87b1e43fbb47f3b26b927f777	[json_eval_task_sampler.py: 648]
+05/26 01:53:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4124_ceiling.xml	[task_sampler.py: 797]
+05/26 01:53:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4124, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:53:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:53:26 INFO: [Worker 0] randomize_scene: Setting poses for 91 objects	[json_eval_task_sampler.py: 686]
+05/26 01:53:26 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:53:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:53:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:53:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:53:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:53:26 INFO: [Worker 0] Sampled task 'Pick up the white rectangular packaging box with blue and place it in or on the metal container with black lid'	[task_sampler.py: 1136]
+05/26 01:53:26 INFO: [Worker 0] Worker 0 house 4124 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:53:26 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:57:20 INFO: [Worker 0] Worker 0 house 4124 episode 0 object objapackaging_33c69733e61e4cc1953c79a1806b89ab_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 01:57:25 INFO: [Worker 0] Batching and saving trajectory data for house_4124: 1 episodes	[pipeline.py: 233]
+05/26 01:57:25 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:57:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:57:29 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4124	[save_utils.py: 703]
+05/26 01:57:29 INFO: [Worker 0] Successfully saved trajectory data for house_4124 in 3.74s (batch: 3.63s, save: 0.12s)	[pipeline.py: 280]
+05/26 01:57:30 WARNING: [Worker 0] No trajectory data to save for house_4124	[pipeline.py: 229]
+05/26 01:57:30 INFO: [Worker 0] Worker 0 completed house 4124: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 01:57:30 INFO: [Worker 0] Worker 0 starting house 4155 (index 6/37)	[pipeline.py: 473]
+05/26 01:57:30 INFO: [Worker 0] Loaded 2 episodes for house 4155 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 01:57:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 01:57:46 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/836b48b21dcb4842a208c66f106abf18	[json_eval_task_sampler.py: 648]
+05/26 01:57:46 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/472cceee5a224ff6933e7baf31d16641	[json_eval_task_sampler.py: 648]
+05/26 01:57:46 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7b3bfdab414148a08cbf46fc105e280a	[json_eval_task_sampler.py: 648]
+05/26 01:57:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4155_ceiling.xml	[task_sampler.py: 797]
+05/26 01:57:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4155, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:57:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:57:51 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects	[json_eval_task_sampler.py: 686]
+05/26 01:57:51 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:57:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:57:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:57:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:57:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:57:51 INFO: [Worker 0] Sampled task 'Pick up the smooth dark brown wooden goblet and place it in or on the black bowl with colorful grid'	[task_sampler.py: 1136]
+05/26 01:57:51 INFO: [Worker 0] Worker 0 house 4155 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 01:57:51 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:57:51 WARNING: [Worker 0] Could not find object objadecorativelighthouse_efc08602dbff41d28ab59d29b36fdb05_1_0_3 in scene	[object_manager.py: 1238]
+05/26 01:57:51 WARNING: [Worker 0] Could not find object objadecorativekey_b891ef9e4e564492b6fe0db01ebeae72_1_0_3 in scene	[object_manager.py: 1238]
+05/26 01:57:51 WARNING: [Worker 0] Could not find object box_e01bbd7deecc2b767c1f2ee9de0d6982_1_0_4 in scene	[object_manager.py: 1238]
+05/26 02:00:46 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 02:07:37 INFO: [Worker 0] Worker 0 house 4155 episode 0 object objagoblet_2e5243eb355c4b0c90aed7281e93d5a6_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 02:07:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 02:07:44 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/836b48b21dcb4842a208c66f106abf18	[json_eval_task_sampler.py: 648]
+05/26 02:07:44 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/472cceee5a224ff6933e7baf31d16641	[json_eval_task_sampler.py: 648]
+05/26 02:07:44 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7b3bfdab414148a08cbf46fc105e280a	[json_eval_task_sampler.py: 648]
+05/26 02:07:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4155_ceiling.xml	[task_sampler.py: 797]
+05/26 02:07:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4155, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:07:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:07:50 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects	[json_eval_task_sampler.py: 686]
+05/26 02:07:50 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:07:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:07:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:07:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:07:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:07:50 INFO: [Worker 0] Sampled task 'Pick up the black night vision goggles with lenses and place it in or on the small beige bowl'	[task_sampler.py: 1136]
+05/26 02:07:50 INFO: [Worker 0] Worker 0 house 4155 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 02:07:50 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:07:50 WARNING: [Worker 0] Could not find object objadecorativelighthouse_efc08602dbff41d28ab59d29b36fdb05_1_0_3 in scene	[object_manager.py: 1238]
+05/26 02:07:50 WARNING: [Worker 0] Could not find object objadecorativekey_b891ef9e4e564492b6fe0db01ebeae72_1_0_3 in scene	[object_manager.py: 1238]
+05/26 02:07:50 WARNING: [Worker 0] Could not find object box_e01bbd7deecc2b767c1f2ee9de0d6982_1_0_4 in scene	[object_manager.py: 1238]
+05/26 02:11:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 02:15:34 INFO: [Worker 0] Worker 0 house 4155 episode 1 object objanightvisiongoggles_11705eaaae174eababc45a53203f59ce_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 02:15:39 INFO: [Worker 0] Batching and saving trajectory data for house_4155: 2 episodes	[pipeline.py: 233]
+05/26 02:15:39 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:15:42 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:15:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:15:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:15:45 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4155	[save_utils.py: 703]
+05/26 02:15:45 INFO: [Worker 0] Successfully saved trajectory data for house_4155 in 6.39s (batch: 6.14s, save: 0.25s)	[pipeline.py: 280]
+05/26 02:15:46 WARNING: [Worker 0] No trajectory data to save for house_4155	[pipeline.py: 229]
+05/26 02:15:46 INFO: [Worker 0] Worker 0 completed house 4155: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 02:15:46 INFO: [Worker 0] Worker 0 starting house 4163 (index 7/37)	[pipeline.py: 473]
+05/26 02:15:46 INFO: [Worker 0] Loaded 1 episodes for house 4163 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 02:15:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 02:15:50 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9e167f4b5fcd446e8ff3c4ca5b257286	[json_eval_task_sampler.py: 648]
+05/26 02:15:50 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/7d2737e16fcf4d40bc549521ba6a2d02	[json_eval_task_sampler.py: 648]
+05/26 02:15:50 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/af838119a5a14e6ea3cc7e6cb53e2bd8	[json_eval_task_sampler.py: 648]
+05/26 02:15:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4163_ceiling.xml	[task_sampler.py: 797]
+05/26 02:15:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4163, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:15:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:15:53 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects	[json_eval_task_sampler.py: 686]
+05/26 02:15:53 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:15:53 INFO: [Worker 0] Sampled task 'Pick up the movie camera and place it in or on the rustic bowl'	[task_sampler.py: 1136]
+05/26 02:15:53 INFO: [Worker 0] Worker 0 house 4163 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 02:15:53 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:22:27 INFO: [Worker 0] Worker 0 house 4163 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 02:22:31 INFO: [Worker 0] Batching and saving trajectory data for house_4163: 1 episodes	[pipeline.py: 233]
+05/26 02:22:31 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:22:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:22:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4163	[save_utils.py: 703]
+05/26 02:22:35 INFO: [Worker 0] Successfully saved trajectory data for house_4163 in 3.47s (batch: 3.32s, save: 0.15s)	[pipeline.py: 280]
+05/26 02:22:36 WARNING: [Worker 0] No trajectory data to save for house_4163	[pipeline.py: 229]
+05/26 02:22:36 INFO: [Worker 0] Worker 0 completed house 4163: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 02:22:36 INFO: [Worker 0] Worker 0 starting house 4256 (index 8/37)	[pipeline.py: 473]
+05/26 02:22:36 INFO: [Worker 0] Loaded 1 episodes for house 4256 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 02:22:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 02:22:45 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4	[json_eval_task_sampler.py: 648]
+05/26 02:22:45 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bdd36c94f3f74f22b02b8a069c8d97b7	[json_eval_task_sampler.py: 648]
+05/26 02:22:45 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c7df0f7671d34fb9817d37067072f9ab	[json_eval_task_sampler.py: 648]
+05/26 02:22:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4256_ceiling.xml	[task_sampler.py: 797]
+05/26 02:22:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4256, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:22:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:22:49 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects	[json_eval_task_sampler.py: 686]
+05/26 02:22:49 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:22:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:22:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:22:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:22:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:22:49 INFO: [Worker 0] Sampled task 'Pick up the sleek beige canon camera and place it in or on the polished wooden bowl with contrast'	[task_sampler.py: 1136]
+05/26 02:22:49 INFO: [Worker 0] Worker 0 house 4256 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 02:22:50 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:26:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 02:31:43 INFO: [Worker 0] Worker 0 house 4256 episode 0 object objadigitalcamera_8b7daba1ebb641448a316946a6dc1837_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 02:31:47 INFO: [Worker 0] Batching and saving trajectory data for house_4256: 1 episodes	[pipeline.py: 233]
+05/26 02:31:47 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:31:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:31:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4256	[save_utils.py: 703]
+05/26 02:31:50 INFO: [Worker 0] Successfully saved trajectory data for house_4256 in 2.73s (batch: 2.62s, save: 0.11s)	[pipeline.py: 280]
+05/26 02:31:50 WARNING: [Worker 0] No trajectory data to save for house_4256	[pipeline.py: 229]
+05/26 02:31:50 INFO: [Worker 0] Worker 0 completed house 4256: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 02:31:50 INFO: [Worker 0] Worker 0 starting house 4322 (index 9/37)	[pipeline.py: 473]
+05/26 02:31:50 INFO: [Worker 0] Loaded 1 episodes for house 4322 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 02:31:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 02:32:01 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/659e6917a5b145fc88b46882fde3764d	[json_eval_task_sampler.py: 648]
+05/26 02:32:01 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_23	[json_eval_task_sampler.py: 648]
+05/26 02:32:01 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/76d1dd1d3f874897b4a630216570d49d	[json_eval_task_sampler.py: 648]
+05/26 02:32:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4322_ceiling.xml	[task_sampler.py: 797]
+05/26 02:32:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4322, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:32:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:32:04 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects	[json_eval_task_sampler.py: 686]
+05/26 02:32:04 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:32:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:32:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:32:04 INFO: [Worker 0] Sampled task 'Pick up the securitykeypad and place it in or on the gray bowl'	[task_sampler.py: 1136]
+05/26 02:32:04 INFO: [Worker 0] Worker 0 house 4322 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 02:32:05 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:34:43 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 02:38:09 INFO: [Worker 0] Worker 0 house 4322 episode 0 object objasecuritykeypad_e3e26581572f467d84958a12d6305aae_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 02:38:14 INFO: [Worker 0] Batching and saving trajectory data for house_4322: 1 episodes	[pipeline.py: 233]
+05/26 02:38:14 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:38:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:38:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4322	[save_utils.py: 703]
+05/26 02:38:17 INFO: [Worker 0] Successfully saved trajectory data for house_4322 in 2.97s (batch: 2.77s, save: 0.20s)	[pipeline.py: 280]
+05/26 02:38:17 WARNING: [Worker 0] No trajectory data to save for house_4322	[pipeline.py: 229]
+05/26 02:38:17 INFO: [Worker 0] Worker 0 completed house 4322: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 02:38:17 INFO: [Worker 0] Worker 0 starting house 4365 (index 10/37)	[pipeline.py: 473]
+05/26 02:38:17 INFO: [Worker 0] Loaded 1 episodes for house 4365 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 02:38:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 02:38:21 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_19	[json_eval_task_sampler.py: 648]
+05/26 02:38:21 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5f6ab8152ec9440e9b922def5ae8b8b2	[json_eval_task_sampler.py: 648]
+05/26 02:38:21 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/4bf7b7b26a704818b1ed3d703a11855b	[json_eval_task_sampler.py: 648]
+05/26 02:38:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4365_ceiling.xml	[task_sampler.py: 797]
+05/26 02:38:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4365, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:38:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:38:25 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects	[json_eval_task_sampler.py: 686]
+05/26 02:38:25 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:38:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:38:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:38:25 INFO: [Worker 0] Sampled task 'Pick up the brown high-top sneaker with zipper and place it in or on the ceramic bowl'	[task_sampler.py: 1136]
+05/26 02:38:25 INFO: [Worker 0] Worker 0 house 4365 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 02:38:25 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:48:52 INFO: [Worker 0] Worker 0 house 4365 episode 0 object objasneaker_a1800b2df030447c93a892c85c8af8ef_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/26 02:48:56 INFO: [Worker 0] Batching and saving trajectory data for house_4365: 1 episodes	[pipeline.py: 233]
+05/26 02:48:56 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:49:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:49:00 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4365	[save_utils.py: 703]
+05/26 02:49:00 INFO: [Worker 0] Successfully saved trajectory data for house_4365 in 3.80s (batch: 3.66s, save: 0.14s)	[pipeline.py: 280]
+05/26 02:49:01 WARNING: [Worker 0] No trajectory data to save for house_4365	[pipeline.py: 229]
+05/26 02:49:01 INFO: [Worker 0] Worker 0 completed house 4365: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 02:49:01 INFO: [Worker 0] Worker 0 starting house 4403 (index 11/37)	[pipeline.py: 473]
+05/26 02:49:01 INFO: [Worker 0] Loaded 1 episodes for house 4403 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 02:49:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 02:49:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_1	[json_eval_task_sampler.py: 648]
+05/26 02:49:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c7df0f7671d34fb9817d37067072f9ab	[json_eval_task_sampler.py: 648]
+05/26 02:49:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/576495fa2f9749adaca89aa604aa68b0	[json_eval_task_sampler.py: 648]
+05/26 02:49:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4403_ceiling.xml	[task_sampler.py: 797]
+05/26 02:49:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4403, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:49:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:49:11 INFO: [Worker 0] randomize_scene: Setting poses for 102 objects	[json_eval_task_sampler.py: 686]
+05/26 02:49:11 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:49:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:49:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:49:11 INFO: [Worker 0] Sampled task 'Pick up the beige envelope with red wax seal and place it in or on the shallow round bowl with feet'	[task_sampler.py: 1136]
+05/26 02:49:11 INFO: [Worker 0] Worker 0 house 4403 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 02:49:11 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:49:11 WARNING: [Worker 0] Could not find object cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_4 in scene	[object_manager.py: 1238]
+05/26 02:52:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 03:02:16 INFO: [Worker 0] Worker 0 house 4403 episode 0 object objadecorativeenvelope_303b287819a84f7496bd92f5d69710c7_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 03:02:20 INFO: [Worker 0] Batching and saving trajectory data for house_4403: 1 episodes	[pipeline.py: 233]
+05/26 03:02:20 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:02:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:02:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4403	[save_utils.py: 703]
+05/26 03:02:23 INFO: [Worker 0] Successfully saved trajectory data for house_4403 in 3.20s (batch: 3.09s, save: 0.11s)	[pipeline.py: 280]
+05/26 03:02:24 WARNING: [Worker 0] No trajectory data to save for house_4403	[pipeline.py: 229]
+05/26 03:02:24 INFO: [Worker 0] Worker 0 completed house 4403: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:02:24 INFO: [Worker 0] Worker 0 starting house 4441 (index 12/37)	[pipeline.py: 473]
+05/26 03:02:24 INFO: [Worker 0] Loaded 1 episodes for house 4441 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 03:02:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 03:02:28 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/55bd2652583048adb5f261974f28b134	[json_eval_task_sampler.py: 648]
+05/26 03:02:28 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_2	[json_eval_task_sampler.py: 648]
+05/26 03:02:28 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/561e6757555049fca93f56e479f7cbe4	[json_eval_task_sampler.py: 648]
+05/26 03:02:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4441_ceiling.xml	[task_sampler.py: 797]
+05/26 03:02:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4441, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:02:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:02:33 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects	[json_eval_task_sampler.py: 686]
+05/26 03:02:33 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:02:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:02:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:02:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:02:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:02:33 INFO: [Worker 0] Sampled task 'Pick up the blue rectangular paper ticket with string and place it in or on the antique rustic metal bowl'	[task_sampler.py: 1136]
+05/26 03:02:33 INFO: [Worker 0] Worker 0 house 4441 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:02:34 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:12:13 INFO: [Worker 0] Worker 0 house 4441 episode 0 object objaticket_c57b100f3adc47ef8c8432c090ac770f_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/26 03:12:17 INFO: [Worker 0] Batching and saving trajectory data for house_4441: 1 episodes	[pipeline.py: 233]
+05/26 03:12:17 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:12:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:12:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4441	[save_utils.py: 703]
+05/26 03:12:20 INFO: [Worker 0] Successfully saved trajectory data for house_4441 in 3.20s (batch: 3.03s, save: 0.16s)	[pipeline.py: 280]
+05/26 03:12:21 WARNING: [Worker 0] No trajectory data to save for house_4441	[pipeline.py: 229]
+05/26 03:12:21 INFO: [Worker 0] Worker 0 completed house 4441: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:12:21 INFO: [Worker 0] Worker 0 starting house 4505 (index 13/37)	[pipeline.py: 473]
+05/26 03:12:21 INFO: [Worker 0] Loaded 2 episodes for house 4505 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 03:12:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 03:12:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1df7263c6e094645987c61c5d60e67d5	[json_eval_task_sampler.py: 648]
+05/26 03:12:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_17	[json_eval_task_sampler.py: 648]
+05/26 03:12:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/561e6757555049fca93f56e479f7cbe4	[json_eval_task_sampler.py: 648]
+05/26 03:12:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4505_ceiling.xml	[task_sampler.py: 797]
+05/26 03:12:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4505, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:12:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:12:26 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects	[json_eval_task_sampler.py: 686]
+05/26 03:12:26 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:12:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:12:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:12:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:12:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:12:26 INFO: [Worker 0] Sampled task 'Pick up the small yellow and black bird and place it in or on the round frosted glass bowl with interior'	[task_sampler.py: 1136]
+05/26 03:12:26 INFO: [Worker 0] Worker 0 house 4505 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 03:12:26 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:18:49 INFO: [Worker 0] Worker 0 house 4505 episode 0 object objabird_5a91277584a645ac85029d4f7342b742_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 03:18:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 03:18:55 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1df7263c6e094645987c61c5d60e67d5	[json_eval_task_sampler.py: 648]
+05/26 03:18:55 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_17	[json_eval_task_sampler.py: 648]
+05/26 03:18:55 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/561e6757555049fca93f56e479f7cbe4	[json_eval_task_sampler.py: 648]
+05/26 03:19:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4505_ceiling.xml	[task_sampler.py: 797]
+05/26 03:19:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4505, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:19:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:19:00 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects	[json_eval_task_sampler.py: 686]
+05/26 03:19:00 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:19:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:19:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:19:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:19:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:19:00 INFO: [Worker 0] Sampled task 'Pick up the metallic sleek blade and place it in or on the ceramic bowl'	[task_sampler.py: 1136]
+05/26 03:19:00 INFO: [Worker 0] Worker 0 house 4505 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 03:19:00 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:21:45 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 03:23:51 INFO: [Worker 0] Worker 0 house 4505 episode 1 object objadecorativeblade_c38337ff48c9480788b04c3afa7464a9_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 03:23:55 INFO: [Worker 0] Batching and saving trajectory data for house_4505: 2 episodes	[pipeline.py: 233]
+05/26 03:23:55 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:23:58 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:24:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:24:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:24:01 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4505	[save_utils.py: 703]
+05/26 03:24:01 INFO: [Worker 0] Successfully saved trajectory data for house_4505 in 6.30s (batch: 6.03s, save: 0.27s)	[pipeline.py: 280]
+05/26 03:24:02 WARNING: [Worker 0] No trajectory data to save for house_4505	[pipeline.py: 229]
+05/26 03:24:02 INFO: [Worker 0] Worker 0 completed house 4505: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 03:24:02 INFO: [Worker 0] Worker 0 starting house 4511 (index 14/37)	[pipeline.py: 473]
+05/26 03:24:02 INFO: [Worker 0] Loaded 1 episodes for house 4511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 03:24:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 03:24:12 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/660bfdd0e9144271acdc116632297395	[json_eval_task_sampler.py: 648]
+05/26 03:24:12 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e12c29eb1cee488498343a20c503ed21	[json_eval_task_sampler.py: 648]
+05/26 03:24:12 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_4	[json_eval_task_sampler.py: 648]
+05/26 03:24:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4511_ceiling.xml	[task_sampler.py: 797]
+05/26 03:24:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4511, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:24:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:24:15 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects	[json_eval_task_sampler.py: 686]
+05/26 03:24:15 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:24:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:24:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:24:15 INFO: [Worker 0] Sampled task 'Pick up the blue glossy sign with rounded letters and place it in or on the round dark stone bowl'	[task_sampler.py: 1136]
+05/26 03:24:15 INFO: [Worker 0] Worker 0 house 4511 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:24:15 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:24:15 WARNING: [Worker 0] Could not find object objadecorativekey_ac8042fa5b204af3a12dd8c588c54ef3_1_0_5 in scene	[object_manager.py: 1238]
+05/26 03:24:15 WARNING: [Worker 0] Could not find object objaconcretesample_51dcd7c7aa21436bbfda21d405868a11_1_0_5 in scene	[object_manager.py: 1238]
+05/26 03:31:16 INFO: [Worker 0] Worker 0 house 4511 episode 0 object objadecorativetext_452e73c35de349d394a7592fdc0200e6_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 03:31:20 INFO: [Worker 0] Batching and saving trajectory data for house_4511: 1 episodes	[pipeline.py: 233]
+05/26 03:31:20 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:31:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:31:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4511	[save_utils.py: 703]
+05/26 03:31:22 INFO: [Worker 0] Successfully saved trajectory data for house_4511 in 2.74s (batch: 2.59s, save: 0.16s)	[pipeline.py: 280]
+05/26 03:31:23 WARNING: [Worker 0] No trajectory data to save for house_4511	[pipeline.py: 229]
+05/26 03:31:23 INFO: [Worker 0] Worker 0 completed house 4511: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:31:23 INFO: [Worker 0] Worker 0 starting house 4556 (index 15/37)	[pipeline.py: 473]
+05/26 03:31:23 INFO: [Worker 0] Loaded 1 episodes for house 4556 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 03:31:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 03:31:32 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_19	[json_eval_task_sampler.py: 648]
+05/26 03:31:32 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/8c419f6d0cbc4580a2e2b9d273969b97	[json_eval_task_sampler.py: 648]
+05/26 03:31:32 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/f8b3d867de194e6cb587c89d54ed8f0e	[json_eval_task_sampler.py: 648]
+05/26 03:31:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4556_ceiling.xml	[task_sampler.py: 797]
+05/26 03:31:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4556, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:31:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:31:38 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects	[json_eval_task_sampler.py: 686]
+05/26 03:31:38 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:31:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:31:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:31:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:31:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:31:38 INFO: [Worker 0] Sampled task 'Pick up the white remote control with yellow button and place it in or on the rustic round gray clay bowl'	[task_sampler.py: 1136]
+05/26 03:31:38 INFO: [Worker 0] Worker 0 house 4556 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:31:39 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:31:39 WARNING: [Worker 0] Could not find object box_cab37dabf893c5e8d3c18a3ad1a8b8eb_1_0_3 in scene	[object_manager.py: 1238]
+05/26 03:31:39 WARNING: [Worker 0] Could not find object objaphotoalbum_6d34266a9ed14aa69c8d0baccdb9081a_1_0_4 in scene	[object_manager.py: 1238]
+05/26 03:31:39 WARNING: [Worker 0] Could not find object objamask_0741405f9d9942e292dc1d0eb20fa815_1_0_5 in scene	[object_manager.py: 1238]
+05/26 03:31:39 WARNING: [Worker 0] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene	[object_manager.py: 1238]
+05/26 03:35:43 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 03:42:55 INFO: [Worker 0] Worker 0 house 4556 episode 0 object objaremotecontrol_f14da6318f904052920e78b9bb1a19ef_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/26 03:43:00 INFO: [Worker 0] Batching and saving trajectory data for house_4556: 1 episodes	[pipeline.py: 233]
+05/26 03:43:00 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:43:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:43:03 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4556	[save_utils.py: 703]
+05/26 03:43:03 INFO: [Worker 0] Successfully saved trajectory data for house_4556 in 3.80s (batch: 3.61s, save: 0.19s)	[pipeline.py: 280]
+05/26 03:43:04 WARNING: [Worker 0] No trajectory data to save for house_4556	[pipeline.py: 229]
+05/26 03:43:04 INFO: [Worker 0] Worker 0 completed house 4556: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:43:04 INFO: [Worker 0] Worker 0 starting house 4634 (index 16/37)	[pipeline.py: 473]
+05/26 03:43:04 INFO: [Worker 0] Loaded 1 episodes for house 4634 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 03:43:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 03:43:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d792e36c80784b53b987c84e304481a9	[json_eval_task_sampler.py: 648]
+05/26 03:43:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b60e63f150034acbabd32dc9ef8563de	[json_eval_task_sampler.py: 648]
+05/26 03:43:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0500b0d9ef6f40dd96591d7b354c9ede	[json_eval_task_sampler.py: 648]
+05/26 03:43:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4634_ceiling.xml	[task_sampler.py: 797]
+05/26 03:43:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4634, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:43:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:43:13 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects	[json_eval_task_sampler.py: 686]
+05/26 03:43:13 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:43:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:43:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:43:13 INFO: [Worker 0] Sampled task 'Pick up the white toilet roll and place it in or on the place receptacl 0'	[task_sampler.py: 1136]
+05/26 03:43:13 INFO: [Worker 0] Worker 0 house 4634 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:43:13 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:43:14 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_2_0_7 in scene	[object_manager.py: 1238]
+05/26 03:48:39 INFO: [Worker 0] Worker 0 house 4634 episode 0 object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/26 03:48:43 INFO: [Worker 0] Batching and saving trajectory data for house_4634: 1 episodes	[pipeline.py: 233]
+05/26 03:48:43 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:48:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:48:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4634	[save_utils.py: 703]
+05/26 03:48:47 INFO: [Worker 0] Successfully saved trajectory data for house_4634 in 3.93s (batch: 3.76s, save: 0.17s)	[pipeline.py: 280]
+05/26 03:48:48 WARNING: [Worker 0] No trajectory data to save for house_4634	[pipeline.py: 229]
+05/26 03:48:48 INFO: [Worker 0] Worker 0 completed house 4634: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:48:48 INFO: [Worker 0] Worker 0 starting house 4686 (index 17/37)	[pipeline.py: 473]
+05/26 03:48:48 INFO: [Worker 0] Loaded 1 episodes for house 4686 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 03:48:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 03:48:49 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/8c419f6d0cbc4580a2e2b9d273969b97	[json_eval_task_sampler.py: 648]
+05/26 03:48:49 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ede795f1c6f74a99b6952183f340fcb8	[json_eval_task_sampler.py: 648]
+05/26 03:48:49 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/1e4b75a1bb484c42b99fcd3ddf23ae9f	[json_eval_task_sampler.py: 648]
+05/26 03:48:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4686_ceiling.xml	[task_sampler.py: 797]
+05/26 03:48:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4686, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:48:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:48:53 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects	[json_eval_task_sampler.py: 686]
+05/26 03:48:53 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:48:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:48:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:48:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:48:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:48:53 INFO: [Worker 0] Sampled task 'Pick up the vintage wooden razor with blade and place it in or on the round wooden bowl with grain'	[task_sampler.py: 1136]
+05/26 03:48:53 INFO: [Worker 0] Worker 0 house 4686 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:48:53 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:48:53 WARNING: [Worker 0] Could not find object objamechanicalcomponent_1bdce5bc26ad44c28d89284da6c3a8cf_1_0_2 in scene	[object_manager.py: 1238]
+05/26 03:48:53 WARNING: [Worker 0] Could not find object soapdispenser_92169e2640439bd67fb105701482b508_1_0_2 in scene	[object_manager.py: 1238]
+05/26 03:52:39 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 03:55:59 INFO: [Worker 0] Worker 0 house 4686 episode 0 object objastraightrazor_a595190ce57a41cda01ff84d5c9eeb06_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 03:56:05 INFO: [Worker 0] Batching and saving trajectory data for house_4686: 1 episodes	[pipeline.py: 233]
+05/26 03:56:05 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:56:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:56:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4686	[save_utils.py: 703]
+05/26 03:56:08 INFO: [Worker 0] Successfully saved trajectory data for house_4686 in 3.69s (batch: 3.27s, save: 0.42s)	[pipeline.py: 280]
+05/26 03:56:09 WARNING: [Worker 0] No trajectory data to save for house_4686	[pipeline.py: 229]
+05/26 03:56:09 INFO: [Worker 0] Worker 0 completed house 4686: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:56:09 INFO: [Worker 0] Worker 0 starting house 4723 (index 18/37)	[pipeline.py: 473]
+05/26 03:56:09 INFO: [Worker 0] Loaded 1 episodes for house 4723 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 03:56:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 03:56:15 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9e167f4b5fcd446e8ff3c4ca5b257286	[json_eval_task_sampler.py: 648]
+05/26 03:56:15 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/977c0bb0114e4728b7c6ccb89da913ec	[json_eval_task_sampler.py: 648]
+05/26 03:56:15 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_4	[json_eval_task_sampler.py: 648]
+05/26 03:56:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4723_ceiling.xml	[task_sampler.py: 797]
+05/26 03:56:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4723, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:56:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:56:19 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects	[json_eval_task_sampler.py: 686]
+05/26 03:56:19 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:56:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:56:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:56:19 INFO: [Worker 0] Sampled task 'Pick up the terracotta owl vessel with spout and place it in or on the golden bowl'	[task_sampler.py: 1136]
+05/26 03:56:19 INFO: [Worker 0] Worker 0 house 4723 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:56:19 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:02:29 INFO: [Worker 0] Worker 0 house 4723 episode 0 object objavessel_8bd6e267f265481682e17f696b201103_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/26 04:02:34 INFO: [Worker 0] Batching and saving trajectory data for house_4723: 1 episodes	[pipeline.py: 233]
+05/26 04:02:34 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:02:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:02:38 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4723	[save_utils.py: 703]
+05/26 04:02:38 INFO: [Worker 0] Successfully saved trajectory data for house_4723 in 4.51s (batch: 4.24s, save: 0.27s)	[pipeline.py: 280]
+05/26 04:02:40 WARNING: [Worker 0] No trajectory data to save for house_4723	[pipeline.py: 229]
+05/26 04:02:40 INFO: [Worker 0] Worker 0 completed house 4723: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:02:40 INFO: [Worker 0] Worker 0 starting house 4750 (index 19/37)	[pipeline.py: 473]
+05/26 04:02:40 INFO: [Worker 0] Loaded 1 episodes for house 4750 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 04:02:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 04:02:42 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/72f752cce53e4942be8e27429ceaf83a	[json_eval_task_sampler.py: 648]
+05/26 04:02:42 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/936714802d2849bea3efb1eb5c83cee6	[json_eval_task_sampler.py: 648]
+05/26 04:02:42 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7b3bfdab414148a08cbf46fc105e280a	[json_eval_task_sampler.py: 648]
+05/26 04:02:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4750_ceiling.xml	[task_sampler.py: 797]
+05/26 04:02:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4750, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:02:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:02:46 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects	[json_eval_task_sampler.py: 686]
+05/26 04:02:46 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:02:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:02:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:02:46 INFO: [Worker 0] Sampled task 'Pick up the compact black and white midi keyboard and place it in or on the ceramic rustic bowl'	[task_sampler.py: 1136]
+05/26 04:02:46 INFO: [Worker 0] Worker 0 house 4750 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:02:46 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:05:46 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 04:08:17 INFO: [Worker 0] Worker 0 house 4750 episode 0 object objamidikeyboard_d5391486d5aa4d6aa54777beecd49534_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/26 04:08:21 INFO: [Worker 0] Batching and saving trajectory data for house_4750: 1 episodes	[pipeline.py: 233]
+05/26 04:08:21 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:08:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:08:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4750	[save_utils.py: 703]
+05/26 04:08:23 INFO: [Worker 0] Successfully saved trajectory data for house_4750 in 2.63s (batch: 2.45s, save: 0.18s)	[pipeline.py: 280]
+05/26 04:08:24 WARNING: [Worker 0] No trajectory data to save for house_4750	[pipeline.py: 229]
+05/26 04:08:24 INFO: [Worker 0] Worker 0 completed house 4750: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:08:24 INFO: [Worker 0] Worker 0 starting house 4796 (index 20/37)	[pipeline.py: 473]
+05/26 04:08:24 INFO: [Worker 0] Loaded 1 episodes for house 4796 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 04:08:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 04:08:26 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/08dd440442874c8e8ae35494b4aff0a2	[json_eval_task_sampler.py: 648]
+05/26 04:08:26 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a37c32fbdbbb4ab19c8b1cccc557f52d	[json_eval_task_sampler.py: 648]
+05/26 04:08:26 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/53c885e05492439cace4cc626fec00cc	[json_eval_task_sampler.py: 648]
+05/26 04:08:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4796_ceiling.xml	[task_sampler.py: 797]
+05/26 04:08:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4796, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:08:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:08:30 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects	[json_eval_task_sampler.py: 686]
+05/26 04:08:30 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:08:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:08:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:08:30 INFO: [Worker 0] Sampled task 'Pick up the blue and white carton and place it in or on the metallic tray'	[task_sampler.py: 1136]
+05/26 04:08:30 INFO: [Worker 0] Worker 0 house 4796 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:08:31 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:16:25 INFO: [Worker 0] Worker 0 house 4796 episode 0 object objabeveragecarton_55d0a4c01b9e4a2cab8112162ea61cfb_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/26 04:16:31 INFO: [Worker 0] Batching and saving trajectory data for house_4796: 1 episodes	[pipeline.py: 233]
+05/26 04:16:31 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:16:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:16:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4796	[save_utils.py: 703]
+05/26 04:16:35 INFO: [Worker 0] Successfully saved trajectory data for house_4796 in 4.11s (batch: 3.86s, save: 0.24s)	[pipeline.py: 280]
+05/26 04:16:36 WARNING: [Worker 0] No trajectory data to save for house_4796	[pipeline.py: 229]
+05/26 04:16:36 INFO: [Worker 0] Worker 0 completed house 4796: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:16:36 INFO: [Worker 0] Worker 0 starting house 4836 (index 21/37)	[pipeline.py: 473]
+05/26 04:16:36 INFO: [Worker 0] Loaded 1 episodes for house 4836 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 04:16:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 04:16:40 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_21	[json_eval_task_sampler.py: 648]
+05/26 04:16:40 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2911e8c87d49402c9e3c18277c8b2b2a	[json_eval_task_sampler.py: 648]
+05/26 04:16:40 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_23	[json_eval_task_sampler.py: 648]
+05/26 04:16:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4836_ceiling.xml	[task_sampler.py: 797]
+05/26 04:16:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4836, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:16:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:16:46 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects	[json_eval_task_sampler.py: 686]
+05/26 04:16:46 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:16:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:16:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:16:46 INFO: [Worker 0] Sampled task 'Pick up the red u-shaped magnet and place it in or on the rectangular box with patterned lid'	[task_sampler.py: 1136]
+05/26 04:16:46 INFO: [Worker 0] Worker 0 house 4836 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:16:46 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:16:46 WARNING: [Worker 0] Could not find object objahinge_4587c40e36704e7a96ffebad95028160_1_0_8 in scene	[object_manager.py: 1238]
+05/26 04:16:46 WARNING: [Worker 0] Could not find object tomato_b4fe73bc978b2372694676fd9d6ef462_2_0_8 in scene	[object_manager.py: 1238]
+05/26 04:20:23 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 04:24:03 INFO: [Worker 0] Worker 0 house 4836 episode 0 object objamagnet_d2d922add236472ea43a39de0d739755_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/26 04:24:06 INFO: [Worker 0] Batching and saving trajectory data for house_4836: 1 episodes	[pipeline.py: 233]
+05/26 04:24:06 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:24:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:24:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4836	[save_utils.py: 703]
+05/26 04:24:10 INFO: [Worker 0] Successfully saved trajectory data for house_4836 in 3.11s (batch: 3.01s, save: 0.10s)	[pipeline.py: 280]
+05/26 04:24:10 WARNING: [Worker 0] No trajectory data to save for house_4836	[pipeline.py: 229]
+05/26 04:24:10 INFO: [Worker 0] Worker 0 completed house 4836: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:24:10 INFO: [Worker 0] Worker 0 starting house 4900 (index 22/37)	[pipeline.py: 473]
+05/26 04:24:10 INFO: [Worker 0] Loaded 1 episodes for house 4900 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 04:24:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 04:24:14 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a5b29a29005041dca3d8bfbc8c57c7e2	[json_eval_task_sampler.py: 648]
+05/26 04:24:14 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/72f752cce53e4942be8e27429ceaf83a	[json_eval_task_sampler.py: 648]
+05/26 04:24:14 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/93ef7da87b1e43fbb47f3b26b927f777	[json_eval_task_sampler.py: 648]
+05/26 04:24:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4900_ceiling.xml	[task_sampler.py: 797]
+05/26 04:24:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4900, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:24:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:24:19 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects	[json_eval_task_sampler.py: 686]
+05/26 04:24:19 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:24:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:24:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:24:19 INFO: [Worker 0] Sampled task 'Pick up the polished smooth golden circular ring and place it in or on the rustic terracotta bowl'	[task_sampler.py: 1136]
+05/26 04:24:19 INFO: [Worker 0] Worker 0 house 4900 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:24:19 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:33:39 INFO: [Worker 0] Worker 0 house 4900 episode 0 object objaring_c20681970f3f4e449aeec50291be17b1_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 04:33:43 INFO: [Worker 0] Batching and saving trajectory data for house_4900: 1 episodes	[pipeline.py: 233]
+05/26 04:33:43 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:33:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:33:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4900	[save_utils.py: 703]
+05/26 04:33:46 INFO: [Worker 0] Successfully saved trajectory data for house_4900 in 2.80s (batch: 2.71s, save: 0.10s)	[pipeline.py: 280]
+05/26 04:33:46 WARNING: [Worker 0] No trajectory data to save for house_4900	[pipeline.py: 229]
+05/26 04:33:46 INFO: [Worker 0] Worker 0 completed house 4900: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:33:46 INFO: [Worker 0] Worker 0 starting house 4954 (index 23/37)	[pipeline.py: 473]
+05/26 04:33:46 INFO: [Worker 0] Loaded 2 episodes for house 4954 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 04:33:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 04:33:48 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f9561598da77463f9eb6fecd4bc301b5	[json_eval_task_sampler.py: 648]
+05/26 04:33:48 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fe6a6e9cf17545179f8c6b81e5499b46	[json_eval_task_sampler.py: 648]
+05/26 04:33:48 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/372c4540cbe148b9bddcbbf1761b5e81	[json_eval_task_sampler.py: 648]
+05/26 04:33:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4954_ceiling.xml	[task_sampler.py: 797]
+05/26 04:33:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4954, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:33:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:33:53 INFO: [Worker 0] randomize_scene: Setting poses for 88 objects	[json_eval_task_sampler.py: 686]
+05/26 04:33:53 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:33:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:33:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:33:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:33:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:33:53 INFO: [Worker 0] Sampled task 'Pick up the robust metal door lock mechanism and place it in or on the rustic brown coconut bowl'	[task_sampler.py: 1136]
+05/26 04:33:53 INFO: [Worker 0] Worker 0 house 4954 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 04:33:53 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:33:54 WARNING: [Worker 0] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_2 in scene	[object_manager.py: 1238]
+05/26 04:38:11 INFO: [Worker 0] Worker 0 house 4954 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/26 04:38:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 04:38:16 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f9561598da77463f9eb6fecd4bc301b5	[json_eval_task_sampler.py: 648]
+05/26 04:38:16 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fe6a6e9cf17545179f8c6b81e5499b46	[json_eval_task_sampler.py: 648]
+05/26 04:38:16 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/372c4540cbe148b9bddcbbf1761b5e81	[json_eval_task_sampler.py: 648]
+05/26 04:38:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4954_ceiling.xml	[task_sampler.py: 797]
+05/26 04:38:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4954, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:38:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:38:21 INFO: [Worker 0] randomize_scene: Setting poses for 88 objects	[json_eval_task_sampler.py: 686]
+05/26 04:38:21 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:38:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:38:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:38:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:38:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:38:21 INFO: [Worker 0] Sampled task 'Pick up the thin white electronic display showing promotion and place it in or on the rustic brown coconut bowl'	[task_sampler.py: 1136]
+05/26 04:38:21 INFO: [Worker 0] Worker 0 house 4954 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 04:38:21 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:38:21 WARNING: [Worker 0] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_2 in scene	[object_manager.py: 1238]
+05/26 04:39:46 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 04:42:48 INFO: [Worker 0] Worker 0 house 4954 episode 1 object objaelectronicdisplay_39fdfa7c14a640b58a5ff5e47a1af37c_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 04:42:52 INFO: [Worker 0] Batching and saving trajectory data for house_4954: 2 episodes	[pipeline.py: 233]
+05/26 04:42:52 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:42:56 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:43:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:43:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:43:00 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4954	[save_utils.py: 703]
+05/26 04:43:00 INFO: [Worker 0] Successfully saved trajectory data for house_4954 in 7.76s (batch: 7.30s, save: 0.46s)	[pipeline.py: 280]
+05/26 04:43:00 WARNING: [Worker 0] No trajectory data to save for house_4954	[pipeline.py: 229]
+05/26 04:43:00 INFO: [Worker 0] Worker 0 completed house 4954: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 04:43:00 INFO: [Worker 0] Worker 0 starting house 4965 (index 24/37)	[pipeline.py: 473]
+05/26 04:43:00 INFO: [Worker 0] Loaded 1 episodes for house 4965 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 04:43:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 04:43:01 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d318587cfc624b18b52a3a7fb7124373	[json_eval_task_sampler.py: 648]
+05/26 04:43:01 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/94f253a91bc14f21be83592faf5891ff	[json_eval_task_sampler.py: 648]
+05/26 04:43:01 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7bcc0425058142c59255979a2b61f0d2	[json_eval_task_sampler.py: 648]
+05/26 04:43:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4965_ceiling.xml	[task_sampler.py: 797]
+05/26 04:43:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4965, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:43:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:43:03 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects	[json_eval_task_sampler.py: 686]
+05/26 04:43:03 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:43:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:43:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:43:03 INFO: [Worker 0] Sampled task 'Pick up the tall dark cup and place it in or on the hand-painted insect bowl'	[task_sampler.py: 1136]
+05/26 04:43:03 INFO: [Worker 0] Worker 0 house 4965 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:43:03 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:45:47 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 04:48:06 INFO: [Worker 0] Worker 0 house 4965 episode 0 object cup_56edd85aeab4ab58cc2b44e71d5e86bf_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 04:48:10 INFO: [Worker 0] Batching and saving trajectory data for house_4965: 1 episodes	[pipeline.py: 233]
+05/26 04:48:10 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:48:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:48:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4965	[save_utils.py: 703]
+05/26 04:48:13 INFO: [Worker 0] Successfully saved trajectory data for house_4965 in 3.13s (batch: 2.97s, save: 0.16s)	[pipeline.py: 280]
+05/26 04:48:14 WARNING: [Worker 0] No trajectory data to save for house_4965	[pipeline.py: 229]
+05/26 04:48:14 INFO: [Worker 0] Worker 0 completed house 4965: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:48:14 INFO: [Worker 0] Worker 0 starting house 5009 (index 25/37)	[pipeline.py: 473]
+05/26 04:48:14 INFO: [Worker 0] Loaded 1 episodes for house 5009 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 04:48:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 04:48:17 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/521e5cb1802643d0bb7366e1f85c18a9	[json_eval_task_sampler.py: 648]
+05/26 04:48:17 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1bac786df9e446a795e442a83f49056a	[json_eval_task_sampler.py: 648]
+05/26 04:48:17 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a37c32fbdbbb4ab19c8b1cccc557f52d	[json_eval_task_sampler.py: 648]
+05/26 04:48:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5009_ceiling.xml	[task_sampler.py: 797]
+05/26 04:48:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5009, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:48:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:48:19 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects	[json_eval_task_sampler.py: 686]
+05/26 04:48:19 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:48:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:48:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:48:19 INFO: [Worker 0] Sampled task 'Pick up the smooth white ceramic serving bowl and place it in or on the wooden box'	[task_sampler.py: 1136]
+05/26 04:48:19 INFO: [Worker 0] Worker 0 house 5009 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:48:19 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:48:19 WARNING: [Worker 0] Could not find object objadecorativeheadpiece_f467a02f004e4135aaa59de93fe2d23c_1_0_3 in scene	[object_manager.py: 1238]
+05/26 04:48:19 WARNING: [Worker 0] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_3 in scene	[object_manager.py: 1238]
+05/26 04:54:35 INFO: [Worker 0] Worker 0 house 5009 episode 0 object bowl_78149002af9123140d89c62daea42a75_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 04:54:39 INFO: [Worker 0] Batching and saving trajectory data for house_5009: 1 episodes	[pipeline.py: 233]
+05/26 04:54:39 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:54:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:54:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5009	[save_utils.py: 703]
+05/26 04:54:42 INFO: [Worker 0] Successfully saved trajectory data for house_5009 in 3.15s (batch: 3.06s, save: 0.09s)	[pipeline.py: 280]
+05/26 04:54:43 WARNING: [Worker 0] No trajectory data to save for house_5009	[pipeline.py: 229]
+05/26 04:54:43 INFO: [Worker 0] Worker 0 completed house 5009: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:54:43 INFO: [Worker 0] Worker 0 starting house 5075 (index 26/37)	[pipeline.py: 473]
+05/26 04:54:43 INFO: [Worker 0] Loaded 1 episodes for house 5075 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 04:54:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 04:54:53 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b4e33154ce3a40e4bd2b34f8de4f548c	[json_eval_task_sampler.py: 648]
+05/26 04:54:53 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5fa7101ca3744068ae84b30dbf0a9240	[json_eval_task_sampler.py: 648]
+05/26 04:54:53 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d318587cfc624b18b52a3a7fb7124373	[json_eval_task_sampler.py: 648]
+05/26 04:54:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5075_ceiling.xml	[task_sampler.py: 797]
+05/26 04:54:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5075, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:54:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:54:58 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects	[json_eval_task_sampler.py: 686]
+05/26 04:54:58 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:54:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:54:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:54:58 INFO: [Worker 0] Sampled task 'Pick up the angled lever with stone base and place it in or on the brown bowl'	[task_sampler.py: 1136]
+05/26 04:54:58 INFO: [Worker 0] Worker 0 house 5075 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:54:58 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:54:58 WARNING: [Worker 0] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_7 in scene	[object_manager.py: 1238]
+05/26 04:56:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 05:44:36 INFO: [Worker 0] Worker 0 house 5075 episode 0 object objalever_5d821ac7148240c092c4face44c1d096_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 05:44:40 INFO: [Worker 0] Batching and saving trajectory data for house_5075: 1 episodes	[pipeline.py: 233]
+05/26 05:44:40 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:44:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:44:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5075	[save_utils.py: 703]
+05/26 05:44:43 INFO: [Worker 0] Successfully saved trajectory data for house_5075 in 3.00s (batch: 2.82s, save: 0.18s)	[pipeline.py: 280]
+05/26 05:44:44 WARNING: [Worker 0] No trajectory data to save for house_5075	[pipeline.py: 229]
+05/26 05:44:44 INFO: [Worker 0] Worker 0 completed house 5075: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 05:44:44 INFO: [Worker 0] Worker 0 starting house 5153 (index 27/37)	[pipeline.py: 473]
+05/26 05:44:44 INFO: [Worker 0] Loaded 1 episodes for house 5153 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 05:44:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 05:44:52 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/42f50ecee3da4df498c0e1b4319366a4	[json_eval_task_sampler.py: 648]
+05/26 05:44:52 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/423c9b6a27254a00aa283647a7e9b1ba	[json_eval_task_sampler.py: 648]
+05/26 05:44:52 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_7	[json_eval_task_sampler.py: 648]
+05/26 05:44:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5153_ceiling.xml	[task_sampler.py: 797]
+05/26 05:44:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5153, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:44:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:44:57 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects	[json_eval_task_sampler.py: 686]
+05/26 05:44:57 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:44:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:44:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:44:57 INFO: [Worker 0] Sampled task 'Pick up the light stone floral molding and place it in or on the shallow round wooden bowl'	[task_sampler.py: 1136]
+05/26 05:44:57 INFO: [Worker 0] Worker 0 house 5153 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 05:44:57 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:48:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 05:51:56 INFO: [Worker 0] Worker 0 house 5153 episode 0 object objadecorativemolding_4702dc29dd224b26a66e95b408e5ce85_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 05:52:01 INFO: [Worker 0] Batching and saving trajectory data for house_5153: 1 episodes	[pipeline.py: 233]
+05/26 05:52:01 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:52:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:52:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5153	[save_utils.py: 703]
+05/26 05:52:04 INFO: [Worker 0] Successfully saved trajectory data for house_5153 in 3.05s (batch: 2.92s, save: 0.13s)	[pipeline.py: 280]
+05/26 05:52:04 WARNING: [Worker 0] No trajectory data to save for house_5153	[pipeline.py: 229]
+05/26 05:52:04 INFO: [Worker 0] Worker 0 completed house 5153: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 05:52:04 INFO: [Worker 0] Worker 0 starting house 5178 (index 28/37)	[pipeline.py: 473]
+05/26 05:52:04 INFO: [Worker 0] Loaded 2 episodes for house 5178 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 05:52:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 05:52:13 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e2a8c3df68a94aea94050e01ad9aa918	[json_eval_task_sampler.py: 648]
+05/26 05:52:13 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a2e1b30c4fbb491e9aeff5cccdfc00ec	[json_eval_task_sampler.py: 648]
+05/26 05:52:13 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/977c0bb0114e4728b7c6ccb89da913ec	[json_eval_task_sampler.py: 648]
+05/26 05:52:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5178_ceiling.xml	[task_sampler.py: 797]
+05/26 05:52:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5178, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:52:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:52:19 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects	[json_eval_task_sampler.py: 686]
+05/26 05:52:19 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:52:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:52:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:52:19 INFO: [Worker 0] Sampled task 'Pick up the cream beetle with black horns and place it in or on the rectangular platform with recessed center'	[task_sampler.py: 1136]
+05/26 05:52:19 INFO: [Worker 0] Worker 0 house 5178 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 05:52:19 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:55:48 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 05:58:58 INFO: [Worker 0] Worker 0 house 5178 episode 0 object objabeetle_a6f2a6fe7a3c4d19831f1bd79d664dcc_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/26 05:59:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 05:59:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e2a8c3df68a94aea94050e01ad9aa918	[json_eval_task_sampler.py: 648]
+05/26 05:59:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a2e1b30c4fbb491e9aeff5cccdfc00ec	[json_eval_task_sampler.py: 648]
+05/26 05:59:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/977c0bb0114e4728b7c6ccb89da913ec	[json_eval_task_sampler.py: 648]
+05/26 05:59:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5178_ceiling.xml	[task_sampler.py: 797]
+05/26 05:59:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5178, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:59:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:59:10 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects	[json_eval_task_sampler.py: 686]
+05/26 05:59:10 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:59:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:59:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:59:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:59:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:59:10 INFO: [Worker 0] Sampled task 'Pick up the colorful mosaic tile in stone and place it in or on the white ceramic mug with handle'	[task_sampler.py: 1136]
+05/26 05:59:10 INFO: [Worker 0] Worker 0 house 5178 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 05:59:10 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:01:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 06:03:55 INFO: [Worker 0] Worker 0 house 5178 episode 1 object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/26 06:04:00 INFO: [Worker 0] Batching and saving trajectory data for house_5178: 2 episodes	[pipeline.py: 233]
+05/26 06:04:00 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:04:03 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:04:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:04:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:04:06 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5178	[save_utils.py: 703]
+05/26 06:04:06 INFO: [Worker 0] Successfully saved trajectory data for house_5178 in 6.23s (batch: 5.91s, save: 0.32s)	[pipeline.py: 280]
+05/26 06:04:07 WARNING: [Worker 0] No trajectory data to save for house_5178	[pipeline.py: 229]
+05/26 06:04:07 INFO: [Worker 0] Worker 0 completed house 5178: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 06:04:07 INFO: [Worker 0] Worker 0 starting house 5189 (index 29/37)	[pipeline.py: 473]
+05/26 06:04:07 INFO: [Worker 0] Loaded 1 episodes for house 5189 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 06:04:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 06:04:11 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_14	[json_eval_task_sampler.py: 648]
+05/26 06:04:11 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c44ac768e7304df58ebf13ba4c6eed11	[json_eval_task_sampler.py: 648]
+05/26 06:04:11 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_13	[json_eval_task_sampler.py: 648]
+05/26 06:04:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5189_ceiling.xml	[task_sampler.py: 797]
+05/26 06:04:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5189, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:04:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:04:14 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects	[json_eval_task_sampler.py: 686]
+05/26 06:04:14 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:04:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:04:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:04:14 INFO: [Worker 0] Sampled task 'Pick up the glossy black sign with pink and place it in or on the rough gray bowl'	[task_sampler.py: 1136]
+05/26 06:04:14 INFO: [Worker 0] Worker 0 house 5189 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 06:04:15 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:07:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 06:14:56 INFO: [Worker 0] Worker 0 house 5189 episode 0 object objasignage_2bf2a240a54742d194cd7e33e7c4c747_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 06:14:59 INFO: [Worker 0] Batching and saving trajectory data for house_5189: 1 episodes	[pipeline.py: 233]
+05/26 06:14:59 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:15:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:15:03 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5189	[save_utils.py: 703]
+05/26 06:15:03 INFO: [Worker 0] Successfully saved trajectory data for house_5189 in 3.34s (batch: 3.15s, save: 0.19s)	[pipeline.py: 280]
+05/26 06:15:03 WARNING: [Worker 0] No trajectory data to save for house_5189	[pipeline.py: 229]
+05/26 06:15:03 INFO: [Worker 0] Worker 0 completed house 5189: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 06:15:03 INFO: [Worker 0] Worker 0 starting house 5262 (index 30/37)	[pipeline.py: 473]
+05/26 06:15:03 INFO: [Worker 0] Loaded 1 episodes for house 5262 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 06:15:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 06:15:17 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bdd36c94f3f74f22b02b8a069c8d97b7	[json_eval_task_sampler.py: 648]
+05/26 06:15:17 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/7754545bd7044b298506bb35b05578d5	[json_eval_task_sampler.py: 648]
+05/26 06:15:17 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_12	[json_eval_task_sampler.py: 648]
+05/26 06:15:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5262_ceiling.xml	[task_sampler.py: 797]
+05/26 06:15:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5262, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:15:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:15:22 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects	[json_eval_task_sampler.py: 686]
+05/26 06:15:22 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:15:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:15:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:15:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:15:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:15:22 INFO: [Worker 0] Sampled task 'Pick up the gray ring with colorful spheres and place it in or on the white bowl with liquid soup'	[task_sampler.py: 1136]
+05/26 06:15:22 INFO: [Worker 0] Worker 0 house 5262 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 06:15:22 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:15:23 WARNING: [Worker 0] Could not find object objacoil_c4fcd63753e740aa9efac5edfe7a7506_1_0_7 in scene	[object_manager.py: 1238]
+05/26 06:15:23 WARNING: [Worker 0] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_7 in scene	[object_manager.py: 1238]
+05/26 06:18:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 06:23:35 INFO: [Worker 0] Worker 0 house 5262 episode 0 object objadecorativering_73d4f9433c2649d0bb702f46c01c3d9a_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 06:23:40 INFO: [Worker 0] Batching and saving trajectory data for house_5262: 1 episodes	[pipeline.py: 233]
+05/26 06:23:40 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:23:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:23:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5262	[save_utils.py: 703]
+05/26 06:23:43 INFO: [Worker 0] Successfully saved trajectory data for house_5262 in 3.25s (batch: 3.11s, save: 0.14s)	[pipeline.py: 280]
+05/26 06:23:43 WARNING: [Worker 0] No trajectory data to save for house_5262	[pipeline.py: 229]
+05/26 06:23:43 INFO: [Worker 0] Worker 0 completed house 5262: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 06:23:44 INFO: [Worker 0] Worker 0 starting house 5323 (index 31/37)	[pipeline.py: 473]
+05/26 06:23:44 INFO: [Worker 0] Loaded 1 episodes for house 5323 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 06:23:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 06:23:50 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/2b66d433fad7419d994eb2b098293577	[json_eval_task_sampler.py: 648]
+05/26 06:23:50 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/f9561598da77463f9eb6fecd4bc301b5	[json_eval_task_sampler.py: 648]
+05/26 06:23:50 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e776cc1b82d54420a55e924510c027c5	[json_eval_task_sampler.py: 648]
+05/26 06:23:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5323_ceiling.xml	[task_sampler.py: 797]
+05/26 06:23:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5323, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:23:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:23:56 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects	[json_eval_task_sampler.py: 686]
+05/26 06:23:56 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:23:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:23:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:23:56 INFO: [Worker 0] Sampled task 'Pick up the matte dark gray cylindrical suppressor and place it in or on the glossy marbled gray bowl'	[task_sampler.py: 1136]
+05/26 06:23:56 INFO: [Worker 0] Worker 0 house 5323 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 06:23:56 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:25:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 06:29:11 INFO: [Worker 0] Worker 0 house 5323 episode 0 object objasuppressor_03d3fab9cfb94bdfa9fcf0eff0eb1b75_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/26 06:29:16 INFO: [Worker 0] Batching and saving trajectory data for house_5323: 1 episodes	[pipeline.py: 233]
+05/26 06:29:16 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:29:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:29:19 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5323	[save_utils.py: 703]
+05/26 06:29:19 INFO: [Worker 0] Successfully saved trajectory data for house_5323 in 3.17s (batch: 3.03s, save: 0.14s)	[pipeline.py: 280]
+05/26 06:29:19 WARNING: [Worker 0] No trajectory data to save for house_5323	[pipeline.py: 229]
+05/26 06:29:19 INFO: [Worker 0] Worker 0 completed house 5323: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 06:29:19 INFO: [Worker 0] Worker 0 starting house 5408 (index 32/37)	[pipeline.py: 473]
+05/26 06:29:19 INFO: [Worker 0] Loaded 1 episodes for house 5408 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 06:29:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 06:29:27 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f8b3d867de194e6cb587c89d54ed8f0e	[json_eval_task_sampler.py: 648]
+05/26 06:29:27 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/af624cab76c04bec86f0c928207797d8	[json_eval_task_sampler.py: 648]
+05/26 06:29:27 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9e167f4b5fcd446e8ff3c4ca5b257286	[json_eval_task_sampler.py: 648]
+05/26 06:29:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5408_ceiling.xml	[task_sampler.py: 797]
+05/26 06:29:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5408, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:29:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:29:30 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects	[json_eval_task_sampler.py: 686]
+05/26 06:29:30 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:29:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:29:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:29:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:29:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:29:30 INFO: [Worker 0] Sampled task 'Pick up the gold metallic cursive script nameplate and place it in or on the rustic green ceramic bowl'	[task_sampler.py: 1136]
+05/26 06:29:30 INFO: [Worker 0] Worker 0 house 5408 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 06:29:30 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:29:31 WARNING: [Worker 0] Could not find object objastonedish_7bf14a57ee5345689c3efd4bd1616466_1_0_6 in scene	[object_manager.py: 1238]
+05/26 06:29:31 WARNING: [Worker 0] Could not find object objanameplate_bc384e6f26f84b04997161e3acde4bc3_1_0_6 in scene	[object_manager.py: 1238]
+05/26 06:34:38 INFO: [Worker 0] Worker 0 house 5408 episode 0 object objadecorativesign_748089ad5eb441ccb3e9f8561567b021_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 06:34:42 INFO: [Worker 0] Batching and saving trajectory data for house_5408: 1 episodes	[pipeline.py: 233]
+05/26 06:34:42 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:34:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:34:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5408	[save_utils.py: 703]
+05/26 06:34:45 INFO: [Worker 0] Successfully saved trajectory data for house_5408 in 2.78s (batch: 2.64s, save: 0.13s)	[pipeline.py: 280]
+05/26 06:34:45 WARNING: [Worker 0] No trajectory data to save for house_5408	[pipeline.py: 229]
+05/26 06:34:45 INFO: [Worker 0] Worker 0 completed house 5408: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 06:34:45 INFO: [Worker 0] Worker 0 starting house 5442 (index 33/37)	[pipeline.py: 473]
+05/26 06:34:45 INFO: [Worker 0] Loaded 1 episodes for house 5442 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 06:34:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 06:34:52 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_20	[json_eval_task_sampler.py: 648]
+05/26 06:34:52 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/44f5be7685c1439c85cf9bc36e78578a	[json_eval_task_sampler.py: 648]
+05/26 06:34:52 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/591a76b35b094562b9dec8ffa5b77387	[json_eval_task_sampler.py: 648]
+05/26 06:34:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5442_ceiling.xml	[task_sampler.py: 797]
+05/26 06:34:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5442, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:34:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:34:58 INFO: [Worker 0] randomize_scene: Setting poses for 93 objects	[json_eval_task_sampler.py: 686]
+05/26 06:34:58 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:34:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:34:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:34:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:34:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:34:58 INFO: [Worker 0] Sampled task 'Pick up the white paper roll and place it in or on the rustic gray bowl'	[task_sampler.py: 1136]
+05/26 06:34:58 INFO: [Worker 0] Worker 0 house 5442 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 06:34:58 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:34:59 WARNING: [Worker 0] Could not find object vase_6cb319ff57e79d3745bd6ac29c8adb3d_1_0_8 in scene	[object_manager.py: 1238]
+05/26 06:43:24 INFO: [Worker 0] Worker 0 house 5442 episode 0 object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/26 06:43:29 INFO: [Worker 0] Batching and saving trajectory data for house_5442: 1 episodes	[pipeline.py: 233]
+05/26 06:43:29 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:43:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:43:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5442	[save_utils.py: 703]
+05/26 06:43:31 INFO: [Worker 0] Successfully saved trajectory data for house_5442 in 2.92s (batch: 2.83s, save: 0.09s)	[pipeline.py: 280]
+05/26 06:43:32 WARNING: [Worker 0] No trajectory data to save for house_5442	[pipeline.py: 229]
+05/26 06:43:32 INFO: [Worker 0] Worker 0 completed house 5442: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 06:43:32 INFO: [Worker 0] Worker 0 starting house 5482 (index 34/37)	[pipeline.py: 473]
+05/26 06:43:32 INFO: [Worker 0] Loaded 1 episodes for house 5482 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 06:43:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 06:43:36 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/fe6a6e9cf17545179f8c6b81e5499b46	[json_eval_task_sampler.py: 648]
+05/26 06:43:36 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0cb14e8a04de4c39ac8714a98fba9883	[json_eval_task_sampler.py: 648]
+05/26 06:43:36 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c2bd80794a3947238fe610f5733be9d2	[json_eval_task_sampler.py: 648]
+05/26 06:43:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5482_ceiling.xml	[task_sampler.py: 797]
+05/26 06:43:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5482, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:43:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:43:39 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects	[json_eval_task_sampler.py: 686]
+05/26 06:43:39 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:43:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:43:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:43:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:43:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:43:39 INFO: [Worker 0] Sampled task 'Pick up the beige flint spearhead and place it in or on the round gray bowl'	[task_sampler.py: 1136]
+05/26 06:43:39 INFO: [Worker 0] Worker 0 house 5482 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 06:43:40 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:45:31 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 06:47:40 INFO: [Worker 0] Worker 0 house 5482 episode 0 object objastonetool_f5a48834fc66497ebc416ef94ec2eeeb_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 06:47:43 INFO: [Worker 0] Batching and saving trajectory data for house_5482: 1 episodes	[pipeline.py: 233]
+05/26 06:47:43 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:47:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:47:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5482	[save_utils.py: 703]
+05/26 06:47:45 INFO: [Worker 0] Successfully saved trajectory data for house_5482 in 2.15s (batch: 2.06s, save: 0.09s)	[pipeline.py: 280]
+05/26 06:47:46 WARNING: [Worker 0] No trajectory data to save for house_5482	[pipeline.py: 229]
+05/26 06:47:46 INFO: [Worker 0] Worker 0 completed house 5482: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 06:47:46 INFO: [Worker 0] Worker 0 starting house 5511 (index 35/37)	[pipeline.py: 473]
+05/26 06:47:46 INFO: [Worker 0] Loaded 1 episodes for house 5511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 06:47:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 06:47:54 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_24	[json_eval_task_sampler.py: 648]
+05/26 06:47:54 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/937044a40c3845bf88639056005b8a75	[json_eval_task_sampler.py: 648]
+05/26 06:47:54 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_29	[json_eval_task_sampler.py: 648]
+05/26 06:47:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5511_ceiling.xml	[task_sampler.py: 797]
+05/26 06:47:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5511, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:47:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:47:58 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects	[json_eval_task_sampler.py: 686]
+05/26 06:47:58 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:47:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:47:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:47:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:47:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:47:58 INFO: [Worker 0] Sampled task 'Pick up the vintage metal sharpener and place it in or on the crockery'	[task_sampler.py: 1136]
+05/26 06:47:58 INFO: [Worker 0] Worker 0 house 5511 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 06:47:58 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:53:09 INFO: [Worker 0] Worker 0 house 5511 episode 0 object objapencilsharpener_90238a6e97484f7ca846101ed7f43eac_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/26 06:53:12 INFO: [Worker 0] Batching and saving trajectory data for house_5511: 1 episodes	[pipeline.py: 233]
+05/26 06:53:12 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:53:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:53:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5511	[save_utils.py: 703]
+05/26 06:53:14 INFO: [Worker 0] Successfully saved trajectory data for house_5511 in 2.19s (batch: 2.10s, save: 0.09s)	[pipeline.py: 280]
+05/26 06:53:15 WARNING: [Worker 0] No trajectory data to save for house_5511	[pipeline.py: 229]
+05/26 06:53:15 INFO: [Worker 0] Worker 0 completed house 5511: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 06:53:15 INFO: [Worker 0] Worker 0 starting house 5555 (index 36/37)	[pipeline.py: 473]
+05/26 06:53:15 INFO: [Worker 0] Loaded 1 episodes for house 5555 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05	[json_eval_runner.py: 278]
+05/26 06:53:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/26 06:53:18 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bfae6fa9a7f64b9eb16f57c05553c612	[json_eval_task_sampler.py: 648]
+05/26 06:53:18 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fe6a6e9cf17545179f8c6b81e5499b46	[json_eval_task_sampler.py: 648]
+05/26 06:53:18 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_8	[json_eval_task_sampler.py: 648]
+05/26 06:53:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5555_ceiling.xml	[task_sampler.py: 797]
+05/26 06:53:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5555, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:53:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:53:19 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects	[json_eval_task_sampler.py: 686]
+05/26 06:53:19 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:53:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:53:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:53:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:53:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:53:19 INFO: [Worker 0] Sampled task 'Pick up the pink flower with yellow center and leaves and place it in or on the smooth silver bowl'	[task_sampler.py: 1136]
+05/26 06:53:19 INFO: [Worker 0] Worker 0 house 5555 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 06:53:19 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:53:19 WARNING: [Worker 0] Could not find object objatoyhouse_6404a5eb445d48e1a96d98e013904cf9_1_0_3 in scene	[object_manager.py: 1238]
+05/26 06:53:19 WARNING: [Worker 0] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_3 in scene	[object_manager.py: 1238]
+05/26 06:54:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/26 06:57:25 INFO: [Worker 0] Worker 0 house 5555 episode 0 object objadecorativeflower_99e08ec1b42241c080912996eebbffe6_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 06:57:29 INFO: [Worker 0] Batching and saving trajectory data for house_5555: 1 episodes	[pipeline.py: 233]
+05/26 06:57:29 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:57:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:57:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5555	[save_utils.py: 703]
+05/26 06:57:31 INFO: [Worker 0] Successfully saved trajectory data for house_5555 in 2.50s (batch: 2.37s, save: 0.13s)	[pipeline.py: 280]
+05/26 06:57:32 WARNING: [Worker 0] No trajectory data to save for house_5555	[pipeline.py: 229]
+05/26 06:57:32 INFO: [Worker 0] Worker 0 completed house 5555: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 06:57:32 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 526]
+05/26 06:57:32 INFO: Completed 37 houses, skipped 0 houses	[pipeline.py: 1496]
+05/26 06:57:32 INFO: Success count: 0, Total count: 41	[pipeline.py: 1499]
+05/26 06:57:32 INFO: Success rate: 0.00%	[pipeline.py: 1500]
diff --git a/pnp_v2/pnp_v2/shards/shard_05/eval/episode_results.jsonl b/pnp_v2/pnp_v2/shards/shard_05/eval/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1b58b8c7979cd74b1e295d8e8b5bbdb244da09d6
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_05/eval/episode_results.jsonl
@@ -0,0 +1,41 @@
+{"house_id": "house_3886", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden handle axe and place it in or on the glossy translucent light blue bowl", "object_name": "objahandaxe_ebb899473a5a41649e6cb25f3b27563b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3886/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3916", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the patriotic jet and place it in or on the shallow round bowl with feet", "object_name": "objatoyjet_cd2a4b5fdf9b4b5b83de34c24cec1f56_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3916/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3961", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige calculator with radio and place it in or on the pixelated bowl filled with ramen", "object_name": "objacalculatorradio_d17ba864b7a94eacaa34ee919210ba8d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3961/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4005", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dslr camera and place it in or on the blue ceramic bottle", "object_name": "objadslrcamera_74868e16ced243c088207e5d7da8c750_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4005/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4041", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow kitchen knife and place it in or on the irregular shaped reddish clay bowl", "object_name": "knife_0bc93f198121d33ac4030a34bfc944a4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4041/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4124", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular packaging box with blue and place it in or on the metal container with black lid", "object_name": "objapackaging_33c69733e61e4cc1953c79a1806b89ab_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4124/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4155", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth dark brown wooden goblet and place it in or on the black bowl with colorful grid", "object_name": "objagoblet_2e5243eb355c4b0c90aed7281e93d5a6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4155/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4155", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black night vision goggles with lenses and place it in or on the small beige bowl", "object_name": "objanightvisiongoggles_11705eaaae174eababc45a53203f59ce_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4155/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4163", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the movie camera and place it in or on the rustic bowl", "object_name": "objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4163/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4256", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek beige canon camera and place it in or on the polished wooden bowl with contrast", "object_name": "objadigitalcamera_8b7daba1ebb641448a316946a6dc1837_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4256/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4322", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the securitykeypad and place it in or on the gray bowl", "object_name": "objasecuritykeypad_e3e26581572f467d84958a12d6305aae_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4322/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4365", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown high-top sneaker with zipper and place it in or on the ceramic bowl", "object_name": "objasneaker_a1800b2df030447c93a892c85c8af8ef_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4365/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4403", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige envelope with red wax seal and place it in or on the shallow round bowl with feet", "object_name": "objadecorativeenvelope_303b287819a84f7496bd92f5d69710c7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4403/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4441", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue rectangular paper ticket with string and place it in or on the antique rustic metal bowl", "object_name": "objaticket_c57b100f3adc47ef8c8432c090ac770f_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4441/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4505", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small yellow and black bird and place it in or on the round frosted glass bowl with interior", "object_name": "objabird_5a91277584a645ac85029d4f7342b742_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4505/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4505", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metallic sleek blade and place it in or on the ceramic bowl", "object_name": "objadecorativeblade_c38337ff48c9480788b04c3afa7464a9_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4505/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4511", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue glossy sign with rounded letters and place it in or on the round dark stone bowl", "object_name": "objadecorativetext_452e73c35de349d394a7592fdc0200e6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4511/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4556", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white remote control with yellow button and place it in or on the rustic round gray clay bowl", "object_name": "objaremotecontrol_f14da6318f904052920e78b9bb1a19ef_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4556/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4634", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white toilet roll and place it in or on the place receptacl 0", "object_name": "objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4634/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4686", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage wooden razor with blade and place it in or on the round wooden bowl with grain", "object_name": "objastraightrazor_a595190ce57a41cda01ff84d5c9eeb06_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4686/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4723", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the terracotta owl vessel with spout and place it in or on the golden bowl", "object_name": "objavessel_8bd6e267f265481682e17f696b201103_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4723/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4750", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact black and white midi keyboard and place it in or on the ceramic rustic bowl", "object_name": "objamidikeyboard_d5391486d5aa4d6aa54777beecd49534_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4750/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4796", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue and white carton and place it in or on the metallic tray", "object_name": "objabeveragecarton_55d0a4c01b9e4a2cab8112162ea61cfb_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4796/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4836", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red u-shaped magnet and place it in or on the rectangular box with patterned lid", "object_name": "objamagnet_d2d922add236472ea43a39de0d739755_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4836/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4900", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished smooth golden circular ring and place it in or on the rustic terracotta bowl", "object_name": "objaring_c20681970f3f4e449aeec50291be17b1_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4900/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4954", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the robust metal door lock mechanism and place it in or on the rustic brown coconut bowl", "object_name": "objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4954/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4954", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the thin white electronic display showing promotion and place it in or on the rustic brown coconut bowl", "object_name": "objaelectronicdisplay_39fdfa7c14a640b58a5ff5e47a1af37c_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4954/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4965", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall dark cup and place it in or on the hand-painted insect bowl", "object_name": "cup_56edd85aeab4ab58cc2b44e71d5e86bf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4965/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5009", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth white ceramic serving bowl and place it in or on the wooden box", "object_name": "bowl_78149002af9123140d89c62daea42a75_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5009/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5075", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the angled lever with stone base and place it in or on the brown bowl", "object_name": "objalever_5d821ac7148240c092c4face44c1d096_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5075/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5153", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light stone floral molding and place it in or on the shallow round wooden bowl", "object_name": "objadecorativemolding_4702dc29dd224b26a66e95b408e5ce85_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5153/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5178", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cream beetle with black horns and place it in or on the rectangular platform with recessed center", "object_name": "objabeetle_a6f2a6fe7a3c4d19831f1bd79d664dcc_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5178/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5178", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the colorful mosaic tile in stone and place it in or on the white ceramic mug with handle", "object_name": "objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5178/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5189", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy black sign with pink and place it in or on the rough gray bowl", "object_name": "objasignage_2bf2a240a54742d194cd7e33e7c4c747_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5189/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5262", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray ring with colorful spheres and place it in or on the white bowl with liquid soup", "object_name": "objadecorativering_73d4f9433c2649d0bb702f46c01c3d9a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5262/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5323", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the matte dark gray cylindrical suppressor and place it in or on the glossy marbled gray bowl", "object_name": "objasuppressor_03d3fab9cfb94bdfa9fcf0eff0eb1b75_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5323/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5408", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold metallic cursive script nameplate and place it in or on the rustic green ceramic bowl", "object_name": "objadecorativesign_748089ad5eb441ccb3e9f8561567b021_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5408/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5442", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white paper roll and place it in or on the rustic gray bowl", "object_name": "objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5442/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5482", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige flint spearhead and place it in or on the round gray bowl", "object_name": "objastonetool_f5a48834fc66497ebc416ef94ec2eeeb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5482/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5511", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metal sharpener and place it in or on the crockery", "object_name": "objapencilsharpener_90238a6e97484f7ca846101ed7f43eac_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5511/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5555", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink flower with yellow center and leaves and place it in or on the smooth silver bowl", "object_name": "objadecorativeflower_99e08ec1b42241c080912996eebbffe6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5555/trajectories_batch_1_of_1.h5", "metadata": {}}
diff --git a/pnp_v2/pnp_v2/shards/shard_05/eval/eval.log b/pnp_v2/pnp_v2/shards/shard_05/eval/eval.log
new file mode 100644
index 0000000000000000000000000000000000000000..0a44f766b3a016c550836d704949982461189aca
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_05/eval/eval.log
@@ -0,0 +1,1468 @@
+[2026-05-26 01:03:53,389] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath']
+[2026-05-26 01:03:53,538] INFO Selected MuJoCo backend: egl
+[2026-05-26 01:03:53,555] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 (source=arg)
+[2026-05-26 01:03:56,480] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /home/yuanpei/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+[2026-05-26 01:04:09,772] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using:
+  symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets
+  cache_dir=/home/yuanpei/.cache/molmo-spaces-resources
+  force_install=True
+/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+[2026-05-26 01:04:37,710] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini']
+[2026-05-26 01:04:37,718] INFO Using save_video_sensors=['__none__']
+[2026-05-26 01:04:41,189] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position
+[2026-05-26 01:04:41,257] INFO Using explicit task_horizon override: 450 steps
+[05/26 01:04:41 INFO pipeline.py:677] WandB logging disabled (environment variables not set)
+[2026-05-26 01:04:41,324] INFO JsonEvalRunner initialized: 37 houses, 41 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 01:04:41 INFO pipeline.py:1279] Starting house-by-house rollout of 37 houses with 2 episodes each (74 total episodes) using 1 worker processes
+[05/26 01:04:41 INFO pipeline.py:1286] Evaluation configuration:
+[05/26 01:04:41 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05'),
+ 'camera_config': None,
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'val',
+ 'datagen_profiler': False,
+ 'end_on_success': True,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': False,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441'),
+ 'policy_config': {'action_chunk_size': 8,
+                   'action_move_group_names': ['arm', 'gripper'],
+                   'action_spec': {'arm': 7, 'gripper': 1},
+                   'action_type': 'joint_pos_rel',
+                   'allow_create_prompt_embedding': True,
+                   'camera_names': ['droid_shoulder_light_randomization',
+                                    'wrist_camera_zed_mini'],
+                   'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt',
+                   'device': 'cuda:0',
+                   'name': 'wan_molmobot_franka',
+                   'obs_camera_name': 'droid_shoulder_light_randomization',
+                   'obs_image_key': 'rgb_head',
+                   'obs_state_key': 'robot_state',
+                   'obs_wrist_camera_name': 'wrist_camera_zed_mini',
+                   'obs_wrist_image_key': 'rgb_wrist',
+                   'policy_cls': <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'>,
+                   'policy_type': 'learned',
+                   'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan',
+                   't5_tokenizer_path': 'google/umt5-xxl',
+                   'task_description_fallback': 'manipulate the target object',
+                   'text_context_key': 'text_context',
+                   'text_embedding_device': 'cpu',
+                   'text_embedding_dtype': 'bf16',
+                   'text_embedding_text_len': 512,
+                   'use_ema': False,
+                   'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'},
+ 'policy_dt_ms': 66.0,
+ 'profile': False,
+ 'profiler': None,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': False,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'base_size': [0.5, 0.5, 0.58],
+                  'command_mode': {'arm': 'joint_rel_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'perturb_texture_probability': 0.7,
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'scene_dataset': 'procthor-10k',
+ 'seed': 42,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'object_poses': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'task_cls': None,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 450,
+ 'task_sampler_config': {'check_robot_placement_visibility': True,
+                         'enable_texture_randomization': False,
+                         'house_inds': [3886,
+                                        3916,
+                                        3961,
+                                        4005,
+                                        4041,
+                                        4124,
+                                        4155,
+                                        4163,
+                                        4256,
+                                        4322,
+                                        4365,
+                                        4403,
+                                        4441,
+                                        4505,
+                                        4511,
+                                        4556,
+                                        4634,
+                                        4686,
+                                        4723,
+                                        4750,
+                                        4796,
+                                        4836,
+                                        4900,
+                                        4954,
+                                        4965,
+                                        5009,
+                                        5075,
+                                        5153,
+                                        5178,
+                                        5189,
+                                        5262,
+                                        5323,
+                                        5408,
+                                        5442,
+                                        5482,
+                                        5511,
+                                        5555],
+                         'load_robot_from_file': True,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 10,
+                         'max_allowed_sequential_task_sampler_failures': 10,
+                         'max_asset_failures': 10,
+                         'max_tasks': 10000,
+                         'max_total_attempts_multiplier': 6,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'robot_placement_exclusion_threshold': 0.15,
+                         'robot_placement_rotation_range_rad': 0.7853981633974483,
+                         'samples_per_house': 2,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.task_sampler.BaseMujocoTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'pick',
+ 'terminate_upon_success': False,
+ 'use_filament': True,
+ 'use_passive_viewer': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'wandb_name': None,
+ 'wandb_project': 'mlspaces-benchmark-eval'}
+[2026-05-26 01:04:41,341] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441
+[05/26 01:04:41 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler
+[05/26 01:04:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/26 01:04:41 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler
+[05/26 01:04:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3886 (index 0/37)
+[05/26 01:04:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3886 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 01:04:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes
+
Checking objects/objaverse:   0%|          | 0/19 [00:00<?, ?it/s]
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+
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Checking grasps/droid_objaverse: 100%|██████████| 8/8 [00:00<00:00, 36353.66it/s]
+[05/26 01:04:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_12
+[05/26 01:04:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_7
+[05/26 01:04:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/977c0bb0114e4728b7c6ccb89da913ec
+[05/26 01:04:46 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+WARNING:2026-05-26 01:04:53,052:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu.
+[2026-05-26 01:04:53,052] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu.
+[05/26 01:04:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3886_ceiling.xml
+[05/26 01:04:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3886, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:04:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:04:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects
+[05/26 01:04:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:04:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:04:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:04:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:04:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:05:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the wooden handle axe and place it in or on the glossy translucent light blue bowl'
+[05/26 01:05:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 3886 episode 0/1 collected=0/2
+[05/26 01:05:04 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:05:04 Worker 0 WARNING object_manager.py:1238] Could not find object objahandaxe_edf08aca9c6b4b598c267da1596b58d4_1_0_2 in scene
+[05/26 01:05:04 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_4d97da0c296398947839b0e020453a0f_1_0_2 in scene
+2026-05-26 01:06:06.585 | INFO     | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0
+[2026-05-26 01:06:42,047] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k)
+[2026-05-26 01:06:44,108] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors.
+[2026-05-26 01:08:51,514] INFO Number of parameters in DiT: 1.821428e+07
+[2026-05-26 01:09:04,850] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8
+[2026-05-26 01:09:04,857] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8
+[05/26 01:09:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 01:13:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 3886 episode 0 object objahandaxe_ebb899473a5a41649e6cb25f3b27563b_1_0_2 completed with success=False
+[05/26 01:13:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3886: 1 episodes
+[05/26 01:13:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:13:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:13:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3886
+[05/26 01:13:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3886 in 5.83s (batch: 5.58s, save: 0.26s)
+[05/26 01:13:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3886
+[05/26 01:13:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3886: 0/1 successful episodes
+[05/26 01:13:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3916 (index 1/37)
+[05/26 01:13:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 01:13:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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Checking grasps/droid_objaverse: 100%|██████████| 3/3 [00:00<00:00, 17598.48it/s]
+[05/26 01:13:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/c7df0f7671d34fb9817d37067072f9ab
+[05/26 01:13:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Pot_27
+[05/26 01:13:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/DecorativeBox2
+[05/26 01:13:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3916_ceiling.xml
+[05/26 01:13:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3916, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:13:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:13:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects
+[05/26 01:13:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:13:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:13:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:13:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:13:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:13:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the patriotic jet and place it in or on the shallow round bowl with feet'
+[05/26 01:13:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 3916 episode 0/1 collected=0/2
+[05/26 01:13:16 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:16:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 01:24:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 3916 episode 0 object objatoyjet_cd2a4b5fdf9b4b5b83de34c24cec1f56_1_0_2 completed with success=False
+[05/26 01:24:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3916: 1 episodes
+[05/26 01:24:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:24:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:24:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3916
+[05/26 01:24:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3916 in 2.21s (batch: 2.12s, save: 0.09s)
+[05/26 01:24:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3916
+[05/26 01:24:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3916: 0/1 successful episodes
+[05/26 01:24:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3961 (index 2/37)
+[05/26 01:24:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3961 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 01:24:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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Checking objects/objaverse: 100%|██████████| 22/22 [00:00<00:00, 32744.74it/s]
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+
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+[05/26 01:26:31 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/496bd9f05a714e608a41a24b169937f6
+[05/26 01:26:31 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/12ca824c9c81470d994ceccb4b5a9061
+[05/26 01:26:31 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/2911e8c87d49402c9e3c18277c8b2b2a
+[05/26 01:26:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3961_ceiling.xml
+[05/26 01:26:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3961, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:26:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:26:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects
+[05/26 01:26:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:26:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:26:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:26:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:26:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:26:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the beige calculator with radio and place it in or on the pixelated bowl filled with ramen'
+[05/26 01:26:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 3961 episode 0/1 collected=0/2
+[05/26 01:26:33 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object objafantasyplant_c8251feed92f41f197376ab4fd543e27_1_0_6 in scene
+[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object objamannequinhand_9507be033ab14d248bc3479e16927993_1_0_6 in scene
+[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_6 in scene
+[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object apple_ff93afa9f54bdc5d2bd30356940afcac_1_0_6 in scene
+[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object objastoneslab_31b90e243892445380948dc39af237cf_1_0_7 in scene
+[2026-05-26 01:27:28,223] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+[05/26 01:30:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 3961 episode 0 object objacalculatorradio_d17ba864b7a94eacaa34ee919210ba8d_1_0_6 completed with success=False
+[05/26 01:30:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3961: 1 episodes
+[05/26 01:30:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:30:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:30:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3961
+[05/26 01:30:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3961 in 2.13s (batch: 2.03s, save: 0.10s)
+[05/26 01:30:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3961
+[05/26 01:30:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3961: 0/1 successful episodes
+[05/26 01:30:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4005 (index 3/37)
+[05/26 01:30:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4005 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 01:30:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+[05/26 01:33:24 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/4b5c2f816e814756960ac3be616fd29d
+[05/26 01:33:24 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/2df58d08f5604c058d43e00677d325b6
+[05/26 01:33:24 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/74f5c16ba1f5406ba30bda961f0c0bd1
+[05/26 01:33:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4005_ceiling.xml
+[05/26 01:33:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4005, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:33:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:33:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects
+[05/26 01:33:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:33:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:33:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:33:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:33:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:33:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dslr camera and place it in or on the blue ceramic bottle'
+[05/26 01:33:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 4005 episode 0/1 collected=0/2
+[05/26 01:33:29 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 01:35:11,932] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 01:40:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4005 episode 0 object objadslrcamera_74868e16ced243c088207e5d7da8c750_1_0_9 completed with success=False
+[05/26 01:40:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4005: 1 episodes
+[05/26 01:40:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:40:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:40:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4005
+[05/26 01:40:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4005 in 3.42s (batch: 3.33s, save: 0.09s)
+[05/26 01:40:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4005
+[05/26 01:40:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4005: 0/1 successful episodes
+[05/26 01:40:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4041 (index 4/37)
+[05/26 01:40:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 01:40:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 01:41:21 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/3339ce474c3d4fb3a35952f476ca1e4a
+[05/26 01:41:21 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/936714802d2849bea3efb1eb5c83cee6
+[05/26 01:41:21 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/bfcfd4c7bfa649259e047eb92e6a5c31
+[05/26 01:41:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4041_ceiling.xml
+[05/26 01:41:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4041, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:41:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:41:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects
+[05/26 01:41:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:41:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:41:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:41:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:41:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:41:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow kitchen knife and place it in or on the irregular shaped reddish clay bowl'
+[05/26 01:41:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 4041 episode 0/1 collected=0/2
+[05/26 01:41:23 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:41:23 Worker 0 WARNING object_manager.py:1238] Could not find object apple_523cec3bd66eec1b41ffd2506874d275_1_0_2 in scene
+[2026-05-26 01:42:53,247] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 01:43:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 01:45:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4041 episode 0 object knife_0bc93f198121d33ac4030a34bfc944a4_1_0_2 completed with success=False
+[05/26 01:45:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4041: 1 episodes
+[05/26 01:45:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:45:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:45:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4041
+[05/26 01:45:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4041 in 2.25s (batch: 2.16s, save: 0.09s)
+[05/26 01:45:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4041
+[05/26 01:45:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4041: 0/1 successful episodes
+[05/26 01:45:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4124 (index 5/37)
+[05/26 01:45:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4124 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 01:45:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
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+[05/26 01:53:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/7bcc0425058142c59255979a2b61f0d2
+[05/26 01:53:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/a6cfd144a62e446c92f0987fb81d584f
+[05/26 01:53:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/93ef7da87b1e43fbb47f3b26b927f777
+[05/26 01:53:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4124_ceiling.xml
+[05/26 01:53:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4124, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:53:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:53:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 91 objects
+[05/26 01:53:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:53:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:53:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:53:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:53:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:53:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white rectangular packaging box with blue and place it in or on the metal container with black lid'
+[05/26 01:53:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 4124 episode 0/1 collected=0/2
+[05/26 01:53:26 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 01:54:21,971] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 01:57:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4124 episode 0 object objapackaging_33c69733e61e4cc1953c79a1806b89ab_1_0_7 completed with success=False
+[05/26 01:57:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4124: 1 episodes
+[05/26 01:57:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:57:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:57:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4124
+[05/26 01:57:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4124 in 3.74s (batch: 3.63s, save: 0.12s)
+[05/26 01:57:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4124
+[05/26 01:57:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4124: 0/1 successful episodes
+[05/26 01:57:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4155 (index 6/37)
+[05/26 01:57:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4155 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 01:57:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/40 [00:00<?, ?it/s]
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+
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Checking grasps/droid_objaverse: 100%|██████████| 15/15 [00:00<00:00, 42711.85it/s]
+[05/26 01:57:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/836b48b21dcb4842a208c66f106abf18
+[05/26 01:57:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/472cceee5a224ff6933e7baf31d16641
+[05/26 01:57:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/7b3bfdab414148a08cbf46fc105e280a
+[05/26 01:57:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4155_ceiling.xml
+[05/26 01:57:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4155, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:57:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:57:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects
+[05/26 01:57:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:57:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:57:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:57:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:57:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:57:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth dark brown wooden goblet and place it in or on the black bowl with colorful grid'
+[05/26 01:57:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 4155 episode 0/2 collected=0/2
+[05/26 01:57:51 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:57:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_efc08602dbff41d28ab59d29b36fdb05_1_0_3 in scene
+[05/26 01:57:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_b891ef9e4e564492b6fe0db01ebeae72_1_0_3 in scene
+[05/26 01:57:51 Worker 0 WARNING object_manager.py:1238] Could not find object box_e01bbd7deecc2b767c1f2ee9de0d6982_1_0_4 in scene
+[2026-05-26 01:59:44,113] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:00:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 02:07:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4155 episode 0 object objagoblet_2e5243eb355c4b0c90aed7281e93d5a6_1_0_2 completed with success=False
+[05/26 02:07:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 02:07:44 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/836b48b21dcb4842a208c66f106abf18
+[05/26 02:07:44 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/472cceee5a224ff6933e7baf31d16641
+[05/26 02:07:44 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/7b3bfdab414148a08cbf46fc105e280a
+[05/26 02:07:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4155_ceiling.xml
+[05/26 02:07:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4155, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:07:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:07:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects
+[05/26 02:07:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:07:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:07:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:07:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:07:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:07:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black night vision goggles with lenses and place it in or on the small beige bowl'
+[05/26 02:07:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 4155 episode 1/2 collected=1/2
+[05/26 02:07:50 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:07:50 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_efc08602dbff41d28ab59d29b36fdb05_1_0_3 in scene
+[05/26 02:07:50 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_b891ef9e4e564492b6fe0db01ebeae72_1_0_3 in scene
+[05/26 02:07:50 Worker 0 WARNING object_manager.py:1238] Could not find object box_e01bbd7deecc2b767c1f2ee9de0d6982_1_0_4 in scene
+[2026-05-26 02:09:57,708] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:11:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 02:15:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 4155 episode 1 object objanightvisiongoggles_11705eaaae174eababc45a53203f59ce_1_0_6 completed with success=False
+[05/26 02:15:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4155: 2 episodes
+[05/26 02:15:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:15:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:15:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:15:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:15:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4155
+[05/26 02:15:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4155 in 6.39s (batch: 6.14s, save: 0.25s)
+[05/26 02:15:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4155
+[05/26 02:15:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4155: 0/2 successful episodes
+[05/26 02:15:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4163 (index 7/37)
+[05/26 02:15:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4163 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 02:15:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 02:15:50 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/9e167f4b5fcd446e8ff3c4ca5b257286
+[05/26 02:15:50 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/7d2737e16fcf4d40bc549521ba6a2d02
+[05/26 02:15:50 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/af838119a5a14e6ea3cc7e6cb53e2bd8
+[05/26 02:15:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4163_ceiling.xml
+[05/26 02:15:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4163, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:15:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:15:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects
+[05/26 02:15:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:15:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:15:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:15:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:15:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:15:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the movie camera and place it in or on the rustic bowl'
+[05/26 02:15:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 4163 episode 0/1 collected=0/2
+[05/26 02:15:53 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:17:24,665] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:22:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4163 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_6 completed with success=False
+[05/26 02:22:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4163: 1 episodes
+[05/26 02:22:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:22:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:22:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4163
+[05/26 02:22:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4163 in 3.47s (batch: 3.32s, save: 0.15s)
+[05/26 02:22:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4163
+[05/26 02:22:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4163: 0/1 successful episodes
+[05/26 02:22:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4256 (index 8/37)
+[05/26 02:22:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4256 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 02:22:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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Checking grasps/droid_objaverse: 100%|██████████| 18/18 [00:00<00:00, 1121.22it/s]
+[05/26 02:22:45 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4
+[05/26 02:22:45 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/bdd36c94f3f74f22b02b8a069c8d97b7
+[05/26 02:22:45 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/c7df0f7671d34fb9817d37067072f9ab
+[05/26 02:22:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4256_ceiling.xml
+[05/26 02:22:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4256, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:22:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:22:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects
+[05/26 02:22:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:22:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:22:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:22:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:22:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:22:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the sleek beige canon camera and place it in or on the polished wooden bowl with contrast'
+[05/26 02:22:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 4256 episode 0/1 collected=0/2
+[05/26 02:22:50 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:24:50,967] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:26:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 02:31:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4256 episode 0 object objadigitalcamera_8b7daba1ebb641448a316946a6dc1837_1_0_4 completed with success=False
+[05/26 02:31:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4256: 1 episodes
+[05/26 02:31:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:31:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:31:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4256
+[05/26 02:31:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4256 in 2.73s (batch: 2.62s, save: 0.11s)
+[05/26 02:31:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4256
+[05/26 02:31:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4256: 0/1 successful episodes
+[05/26 02:31:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4322 (index 9/37)
+[05/26 02:31:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4322 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 02:31:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+[05/26 02:32:01 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/659e6917a5b145fc88b46882fde3764d
+[05/26 02:32:01 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_23
+[05/26 02:32:01 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/76d1dd1d3f874897b4a630216570d49d
+[05/26 02:32:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4322_ceiling.xml
+[05/26 02:32:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4322, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:32:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:32:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects
+[05/26 02:32:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:32:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:32:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:32:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:32:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:32:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the securitykeypad and place it in or on the gray bowl'
+[05/26 02:32:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 4322 episode 0/1 collected=0/2
+[05/26 02:32:05 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:33:44,443] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:34:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 02:38:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4322 episode 0 object objasecuritykeypad_e3e26581572f467d84958a12d6305aae_1_0_4 completed with success=False
+[05/26 02:38:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4322: 1 episodes
+[05/26 02:38:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:38:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:38:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4322
+[05/26 02:38:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4322 in 2.97s (batch: 2.77s, save: 0.20s)
+[05/26 02:38:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4322
+[05/26 02:38:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4322: 0/1 successful episodes
+[05/26 02:38:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4365 (index 10/37)
+[05/26 02:38:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4365 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 02:38:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+[05/26 02:38:21 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Pot_19
+[05/26 02:38:21 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/5f6ab8152ec9440e9b922def5ae8b8b2
+[05/26 02:38:21 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/4bf7b7b26a704818b1ed3d703a11855b
+[05/26 02:38:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4365_ceiling.xml
+[05/26 02:38:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4365, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:38:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:38:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects
+[05/26 02:38:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:38:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:38:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:38:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:38:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:38:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the brown high-top sneaker with zipper and place it in or on the ceramic bowl'
+[05/26 02:38:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 4365 episode 0/1 collected=0/2
+[05/26 02:38:25 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:40:34,076] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:48:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 4365 episode 0 object objasneaker_a1800b2df030447c93a892c85c8af8ef_1_0_5 completed with success=False
+[05/26 02:48:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4365: 1 episodes
+[05/26 02:48:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:49:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:49:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4365
+[05/26 02:49:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4365 in 3.80s (batch: 3.66s, save: 0.14s)
+[05/26 02:49:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4365
+[05/26 02:49:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4365: 0/1 successful episodes
+[05/26 02:49:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4403 (index 11/37)
+[05/26 02:49:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4403 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 02:49:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+[05/26 02:49:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_1
+[05/26 02:49:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/c7df0f7671d34fb9817d37067072f9ab
+[05/26 02:49:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/576495fa2f9749adaca89aa604aa68b0
+[05/26 02:49:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4403_ceiling.xml
+[05/26 02:49:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4403, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:49:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:49:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 102 objects
+[05/26 02:49:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:49:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:49:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:49:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:49:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:49:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the beige envelope with red wax seal and place it in or on the shallow round bowl with feet'
+[05/26 02:49:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 4403 episode 0/1 collected=0/2
+[05/26 02:49:11 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:49:11 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_4 in scene
+[2026-05-26 02:51:01,105] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:52:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 03:02:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4403 episode 0 object objadecorativeenvelope_303b287819a84f7496bd92f5d69710c7_1_0_2 completed with success=False
+[05/26 03:02:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4403: 1 episodes
+[05/26 03:02:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:02:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:02:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4403
+[05/26 03:02:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4403 in 3.20s (batch: 3.09s, save: 0.11s)
+[05/26 03:02:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4403
+[05/26 03:02:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4403: 0/1 successful episodes
+[05/26 03:02:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4441 (index 12/37)
+[05/26 03:02:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4441 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 03:02:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
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+[05/26 03:02:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/55bd2652583048adb5f261974f28b134
+[05/26 03:02:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_2
+[05/26 03:02:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/561e6757555049fca93f56e479f7cbe4
+[05/26 03:02:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4441_ceiling.xml
+[05/26 03:02:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4441, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:02:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:02:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects
+[05/26 03:02:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:02:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:02:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:02:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:02:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:02:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular paper ticket with string and place it in or on the antique rustic metal bowl'
+[05/26 03:02:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 4441 episode 0/1 collected=0/2
+[05/26 03:02:34 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:04:50,860] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:12:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 4441 episode 0 object objaticket_c57b100f3adc47ef8c8432c090ac770f_1_0_9 completed with success=False
+[05/26 03:12:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4441: 1 episodes
+[05/26 03:12:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:12:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:12:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4441
+[05/26 03:12:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4441 in 3.20s (batch: 3.03s, save: 0.16s)
+[05/26 03:12:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4441
+[05/26 03:12:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4441: 0/1 successful episodes
+[05/26 03:12:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4505 (index 13/37)
+[05/26 03:12:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4505 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 03:12:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 03:12:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/1df7263c6e094645987c61c5d60e67d5
+[05/26 03:12:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_17
+[05/26 03:12:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/561e6757555049fca93f56e479f7cbe4
+[05/26 03:12:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4505_ceiling.xml
+[05/26 03:12:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4505, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:12:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:12:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects
+[05/26 03:12:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:12:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:12:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:12:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:12:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:12:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small yellow and black bird and place it in or on the round frosted glass bowl with interior'
+[05/26 03:12:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 4505 episode 0/2 collected=0/2
+[05/26 03:12:26 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:14:29,323] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:18:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 4505 episode 0 object objabird_5a91277584a645ac85029d4f7342b742_1_0_7 completed with success=False
+[05/26 03:18:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 03:18:55 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/1df7263c6e094645987c61c5d60e67d5
+[05/26 03:18:55 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_17
+[05/26 03:18:55 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/561e6757555049fca93f56e479f7cbe4
+[05/26 03:19:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4505_ceiling.xml
+[05/26 03:19:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4505, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:19:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:19:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects
+[05/26 03:19:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:19:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:19:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:19:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:19:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:19:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metallic sleek blade and place it in or on the ceramic bowl'
+[05/26 03:19:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 4505 episode 1/2 collected=1/2
+[05/26 03:19:00 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:21:03,659] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:21:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 03:23:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4505 episode 1 object objadecorativeblade_c38337ff48c9480788b04c3afa7464a9_1_0_4 completed with success=False
+[05/26 03:23:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4505: 2 episodes
+[05/26 03:23:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:23:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:24:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:24:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:24:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4505
+[05/26 03:24:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4505 in 6.30s (batch: 6.03s, save: 0.27s)
+[05/26 03:24:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4505
+[05/26 03:24:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4505: 0/2 successful episodes
+[05/26 03:24:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4511 (index 14/37)
+[05/26 03:24:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 03:24:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
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+[05/26 03:24:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/660bfdd0e9144271acdc116632297395
+[05/26 03:24:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/e12c29eb1cee488498343a20c503ed21
+[05/26 03:24:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Pot_4
+[05/26 03:24:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4511_ceiling.xml
+[05/26 03:24:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4511, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:24:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:24:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects
+[05/26 03:24:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:24:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:24:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:24:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:24:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:24:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue glossy sign with rounded letters and place it in or on the round dark stone bowl'
+[05/26 03:24:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 4511 episode 0/1 collected=0/2
+[05/26 03:24:15 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:24:15 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_ac8042fa5b204af3a12dd8c588c54ef3_1_0_5 in scene
+[05/26 03:24:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaconcretesample_51dcd7c7aa21436bbfda21d405868a11_1_0_5 in scene
+[2026-05-26 03:25:56,839] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:31:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4511 episode 0 object objadecorativetext_452e73c35de349d394a7592fdc0200e6_1_0_6 completed with success=False
+[05/26 03:31:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4511: 1 episodes
+[05/26 03:31:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:31:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:31:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4511
+[05/26 03:31:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4511 in 2.74s (batch: 2.59s, save: 0.16s)
+[05/26 03:31:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4511
+[05/26 03:31:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4511: 0/1 successful episodes
+[05/26 03:31:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4556 (index 15/37)
+[05/26 03:31:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4556 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 03:31:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
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+
Checking grasps/droid_objaverse:   0%|          | 0/21 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 21/21 [00:00<00:00, 8486.40it/s]
+[05/26 03:31:32 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Pot_19
+[05/26 03:31:32 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/8c419f6d0cbc4580a2e2b9d273969b97
+[05/26 03:31:32 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/f8b3d867de194e6cb587c89d54ed8f0e
+[05/26 03:31:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4556_ceiling.xml
+[05/26 03:31:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4556, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:31:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:31:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects
+[05/26 03:31:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:31:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:31:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:31:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:31:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:31:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white remote control with yellow button and place it in or on the rustic round gray clay bowl'
+[05/26 03:31:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 4556 episode 0/1 collected=0/2
+[05/26 03:31:39 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:31:39 Worker 0 WARNING object_manager.py:1238] Could not find object box_cab37dabf893c5e8d3c18a3ad1a8b8eb_1_0_3 in scene
+[05/26 03:31:39 Worker 0 WARNING object_manager.py:1238] Could not find object objaphotoalbum_6d34266a9ed14aa69c8d0baccdb9081a_1_0_4 in scene
+[05/26 03:31:39 Worker 0 WARNING object_manager.py:1238] Could not find object objamask_0741405f9d9942e292dc1d0eb20fa815_1_0_5 in scene
+[05/26 03:31:39 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene
+[2026-05-26 03:33:56,242] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:35:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 03:42:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 4556 episode 0 object objaremotecontrol_f14da6318f904052920e78b9bb1a19ef_1_0_3 completed with success=False
+[05/26 03:43:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4556: 1 episodes
+[05/26 03:43:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:43:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:43:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4556
+[05/26 03:43:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4556 in 3.80s (batch: 3.61s, save: 0.19s)
+[05/26 03:43:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4556
+[05/26 03:43:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4556: 0/1 successful episodes
+[05/26 03:43:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4634 (index 16/37)
+[05/26 03:43:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4634 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 03:43:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/26 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 26/26 [00:00<00:00, 4154.67it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/13 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 13/13 [00:00<00:00, 41846.47it/s]
+[05/26 03:43:08 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/d792e36c80784b53b987c84e304481a9
+[05/26 03:43:08 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/b60e63f150034acbabd32dc9ef8563de
+[05/26 03:43:08 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/0500b0d9ef6f40dd96591d7b354c9ede
+[05/26 03:43:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4634_ceiling.xml
+[05/26 03:43:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4634, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:43:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:43:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects
+[05/26 03:43:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:43:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:43:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:43:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:43:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:43:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white toilet roll and place it in or on the place receptacl 0'
+[05/26 03:43:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 4634 episode 0/1 collected=0/2
+[05/26 03:43:13 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:43:14 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_2_0_7 in scene
+[2026-05-26 03:44:27,526] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:48:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4634 episode 0 object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 completed with success=False
+[05/26 03:48:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4634: 1 episodes
+[05/26 03:48:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:48:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:48:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4634
+[05/26 03:48:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4634 in 3.93s (batch: 3.76s, save: 0.17s)
+[05/26 03:48:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4634
+[05/26 03:48:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4634: 0/1 successful episodes
+[05/26 03:48:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4686 (index 17/37)
+[05/26 03:48:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4686 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 03:48:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/14 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 14/14 [00:00<00:00, 41586.58it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/6 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 6/6 [00:00<00:00, 31895.85it/s]
+[05/26 03:48:49 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/8c419f6d0cbc4580a2e2b9d273969b97
+[05/26 03:48:49 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/ede795f1c6f74a99b6952183f340fcb8
+[05/26 03:48:49 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/1e4b75a1bb484c42b99fcd3ddf23ae9f
+[05/26 03:48:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4686_ceiling.xml
+[05/26 03:48:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4686, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:48:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:48:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects
+[05/26 03:48:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:48:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:48:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:48:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:48:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:48:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the vintage wooden razor with blade and place it in or on the round wooden bowl with grain'
+[05/26 03:48:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 4686 episode 0/1 collected=0/2
+[05/26 03:48:53 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:48:53 Worker 0 WARNING object_manager.py:1238] Could not find object objamechanicalcomponent_1bdce5bc26ad44c28d89284da6c3a8cf_1_0_2 in scene
+[05/26 03:48:53 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_92169e2640439bd67fb105701482b508_1_0_2 in scene
+[2026-05-26 03:51:19,655] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:52:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 03:55:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4686 episode 0 object objastraightrazor_a595190ce57a41cda01ff84d5c9eeb06_1_0_2 completed with success=False
+[05/26 03:56:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4686: 1 episodes
+[05/26 03:56:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:56:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:56:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4686
+[05/26 03:56:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4686 in 3.69s (batch: 3.27s, save: 0.42s)
+[05/26 03:56:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4686
+[05/26 03:56:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4686: 0/1 successful episodes
+[05/26 03:56:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4723 (index 18/37)
+[05/26 03:56:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4723 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 03:56:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/44 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 44/44 [00:00<00:00, 41369.51it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/19 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 19/19 [00:00<00:00, 33498.01it/s]
+[05/26 03:56:15 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/9e167f4b5fcd446e8ff3c4ca5b257286
+[05/26 03:56:15 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/977c0bb0114e4728b7c6ccb89da913ec
+[05/26 03:56:15 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Pot_4
+[05/26 03:56:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4723_ceiling.xml
+[05/26 03:56:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4723, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:56:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:56:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects
+[05/26 03:56:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:56:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:56:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:56:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:56:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:56:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the terracotta owl vessel with spout and place it in or on the golden bowl'
+[05/26 03:56:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 4723 episode 0/1 collected=0/2
+[05/26 03:56:19 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:58:04,809] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:02:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4723 episode 0 object objavessel_8bd6e267f265481682e17f696b201103_1_0_8 completed with success=False
+[05/26 04:02:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4723: 1 episodes
+[05/26 04:02:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:02:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:02:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4723
+[05/26 04:02:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4723 in 4.51s (batch: 4.24s, save: 0.27s)
+[05/26 04:02:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4723
+[05/26 04:02:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4723: 0/1 successful episodes
+[05/26 04:02:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4750 (index 19/37)
+[05/26 04:02:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4750 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 04:02:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 04:02:42 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/72f752cce53e4942be8e27429ceaf83a
+[05/26 04:02:42 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/936714802d2849bea3efb1eb5c83cee6
+[05/26 04:02:42 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/7b3bfdab414148a08cbf46fc105e280a
+[05/26 04:02:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4750_ceiling.xml
+[05/26 04:02:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4750, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:02:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:02:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects
+[05/26 04:02:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:02:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:02:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:02:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:02:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:02:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the compact black and white midi keyboard and place it in or on the ceramic rustic bowl'
+[05/26 04:02:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 4750 episode 0/1 collected=0/2
+[05/26 04:02:46 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:05:10,194] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:05:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 04:08:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4750 episode 0 object objamidikeyboard_d5391486d5aa4d6aa54777beecd49534_1_0_3 completed with success=False
+[05/26 04:08:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4750: 1 episodes
+[05/26 04:08:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:08:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:08:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4750
+[05/26 04:08:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4750 in 2.63s (batch: 2.45s, save: 0.18s)
+[05/26 04:08:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4750
+[05/26 04:08:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4750: 0/1 successful episodes
+[05/26 04:08:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4796 (index 20/37)
+[05/26 04:08:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4796 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 04:08:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
Checking grasps/droid_objaverse:   0%|          | 0/14 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 14/14 [00:00<00:00, 62735.32it/s]
+[05/26 04:08:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/08dd440442874c8e8ae35494b4aff0a2
+[05/26 04:08:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/a37c32fbdbbb4ab19c8b1cccc557f52d
+[05/26 04:08:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/53c885e05492439cace4cc626fec00cc
+QH7089 qhull precision warning: The initial hull is narrow.  Is the input lower
+dimensional (e.g., a square in 3-d instead of a cube)?  Cosine of the minimum
+angle is 1.0000000000000002.  If so, Qhull may produce a wide facet.
+Options 'Qs' (search all points), 'Qbb' (scale last coordinate), or
+'QbB' (scale to unit box) may remove this warning.
+See 'Limitations' in qh-impre.htm.  Use 'Pp' to skip this warning.
+[05/26 04:08:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4796_ceiling.xml
+[05/26 04:08:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4796, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:08:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:08:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 65 objects
+[05/26 04:08:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:08:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:08:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:08:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:08:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:08:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue and white carton and place it in or on the metallic tray'
+[05/26 04:08:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 4796 episode 0/1 collected=0/2
+[05/26 04:08:31 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:10:46,996] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:16:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4796 episode 0 object objabeveragecarton_55d0a4c01b9e4a2cab8112162ea61cfb_1_0_9 completed with success=False
+[05/26 04:16:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4796: 1 episodes
+[05/26 04:16:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:16:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:16:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4796
+[05/26 04:16:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4796 in 4.11s (batch: 3.86s, save: 0.24s)
+[05/26 04:16:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4796
+[05/26 04:16:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4796: 0/1 successful episodes
+[05/26 04:16:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4836 (index 21/37)
+[05/26 04:16:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4836 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 04:16:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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Checking objects/objaverse: 100%|██████████| 50/50 [00:00<00:00, 65454.18it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/19 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 19/19 [00:00<00:00, 50662.29it/s]
+[05/26 04:16:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_21
+[05/26 04:16:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/2911e8c87d49402c9e3c18277c8b2b2a
+[05/26 04:16:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_23
+[05/26 04:16:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4836_ceiling.xml
+[05/26 04:16:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4836, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:16:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:16:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects
+[05/26 04:16:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:16:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:16:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:16:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:16:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:16:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red u-shaped magnet and place it in or on the rectangular box with patterned lid'
+[05/26 04:16:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 4836 episode 0/1 collected=0/2
+[05/26 04:16:46 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:16:46 Worker 0 WARNING object_manager.py:1238] Could not find object objahinge_4587c40e36704e7a96ffebad95028160_1_0_8 in scene
+[05/26 04:16:46 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_b4fe73bc978b2372694676fd9d6ef462_2_0_8 in scene
+[2026-05-26 04:18:54,558] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:20:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 04:24:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4836 episode 0 object objamagnet_d2d922add236472ea43a39de0d739755_1_0_9 completed with success=False
+[05/26 04:24:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4836: 1 episodes
+[05/26 04:24:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:24:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:24:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4836
+[05/26 04:24:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4836 in 3.11s (batch: 3.01s, save: 0.10s)
+[05/26 04:24:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4836
+[05/26 04:24:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4836: 0/1 successful episodes
+[05/26 04:24:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4900 (index 22/37)
+[05/26 04:24:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4900 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 04:24:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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Checking objects/objaverse: 100%|██████████| 31/31 [00:00<00:00, 38755.12it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/15 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 15/15 [00:00<00:00, 2755.18it/s]
+[05/26 04:24:14 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/a5b29a29005041dca3d8bfbc8c57c7e2
+[05/26 04:24:14 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/72f752cce53e4942be8e27429ceaf83a
+[05/26 04:24:14 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/93ef7da87b1e43fbb47f3b26b927f777
+[05/26 04:24:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4900_ceiling.xml
+[05/26 04:24:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4900, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:24:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:24:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects
+[05/26 04:24:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:24:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:24:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:24:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:24:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:24:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished smooth golden circular ring and place it in or on the rustic terracotta bowl'
+[05/26 04:24:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 4900 episode 0/1 collected=0/2
+[05/26 04:24:19 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:25:53,703] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:33:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4900 episode 0 object objaring_c20681970f3f4e449aeec50291be17b1_1_0_2 completed with success=False
+[05/26 04:33:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4900: 1 episodes
+[05/26 04:33:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:33:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:33:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4900
+[05/26 04:33:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4900 in 2.80s (batch: 2.71s, save: 0.10s)
+[05/26 04:33:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4900
+[05/26 04:33:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4900: 0/1 successful episodes
+[05/26 04:33:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4954 (index 23/37)
+[05/26 04:33:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4954 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 04:33:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/57 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 57/57 [00:00<00:00, 81235.25it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/25 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 25/25 [00:00<00:00, 81222.00it/s]
+[05/26 04:33:48 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/f9561598da77463f9eb6fecd4bc301b5
+[05/26 04:33:48 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/fe6a6e9cf17545179f8c6b81e5499b46
+[05/26 04:33:48 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/372c4540cbe148b9bddcbbf1761b5e81
+[05/26 04:33:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4954_ceiling.xml
+[05/26 04:33:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4954, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:33:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:33:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 88 objects
+[05/26 04:33:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:33:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:33:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:33:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:33:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:33:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the robust metal door lock mechanism and place it in or on the rustic brown coconut bowl'
+[05/26 04:33:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 4954 episode 0/2 collected=0/2
+[05/26 04:33:53 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:33:54 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_2 in scene
+[2026-05-26 04:35:22,018] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:38:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4954 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_3 completed with success=False
+[05/26 04:38:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/57 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 57/57 [00:00<00:00, 63566.96it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/25 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 25/25 [00:00<00:00, 60159.27it/s]
+[05/26 04:38:16 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/f9561598da77463f9eb6fecd4bc301b5
+[05/26 04:38:16 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/fe6a6e9cf17545179f8c6b81e5499b46
+[05/26 04:38:16 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/372c4540cbe148b9bddcbbf1761b5e81
+[05/26 04:38:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4954_ceiling.xml
+[05/26 04:38:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4954, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:38:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:38:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 88 objects
+[05/26 04:38:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:38:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:38:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:38:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:38:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:38:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the thin white electronic display showing promotion and place it in or on the rustic brown coconut bowl'
+[05/26 04:38:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 4954 episode 1/2 collected=1/2
+[05/26 04:38:21 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:38:21 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_2 in scene
+[2026-05-26 04:39:25,593] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:39:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 04:42:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 4954 episode 1 object objaelectronicdisplay_39fdfa7c14a640b58a5ff5e47a1af37c_1_0_7 completed with success=False
+[05/26 04:42:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4954: 2 episodes
+[05/26 04:42:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:42:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:43:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:43:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:43:00 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4954
+[05/26 04:43:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4954 in 7.76s (batch: 7.30s, save: 0.46s)
+[05/26 04:43:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4954
+[05/26 04:43:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4954: 0/2 successful episodes
+[05/26 04:43:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4965 (index 24/37)
+[05/26 04:43:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4965 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 04:43:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/13 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 13/13 [00:00<00:00, 46247.63it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/6 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 6/6 [00:00<00:00, 28532.68it/s]
+[05/26 04:43:01 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/d318587cfc624b18b52a3a7fb7124373
+[05/26 04:43:01 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/94f253a91bc14f21be83592faf5891ff
+[05/26 04:43:01 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/7bcc0425058142c59255979a2b61f0d2
+[05/26 04:43:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4965_ceiling.xml
+[05/26 04:43:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4965, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:43:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:43:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects
+[05/26 04:43:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:43:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:43:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:43:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:43:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:43:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tall dark cup and place it in or on the hand-painted insect bowl'
+[05/26 04:43:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 4965 episode 0/1 collected=0/2
+[05/26 04:43:03 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:45:04,003] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:45:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 04:48:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4965 episode 0 object cup_56edd85aeab4ab58cc2b44e71d5e86bf_1_0_2 completed with success=False
+[05/26 04:48:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4965: 1 episodes
+[05/26 04:48:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:48:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:48:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4965
+[05/26 04:48:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4965 in 3.13s (batch: 2.97s, save: 0.16s)
+[05/26 04:48:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4965
+[05/26 04:48:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4965: 0/1 successful episodes
+[05/26 04:48:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5009 (index 25/37)
+[05/26 04:48:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5009 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 04:48:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/12 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 12/12 [00:00<00:00, 40201.00it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/7 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 7/7 [00:00<00:00, 25913.62it/s]
+[05/26 04:48:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/521e5cb1802643d0bb7366e1f85c18a9
+[05/26 04:48:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/1bac786df9e446a795e442a83f49056a
+[05/26 04:48:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/a37c32fbdbbb4ab19c8b1cccc557f52d
+QH7089 qhull precision warning: The initial hull is narrow.  Is the input lower
+dimensional (e.g., a square in 3-d instead of a cube)?  Cosine of the minimum
+angle is 1.0000000000000002.  If so, Qhull may produce a wide facet.
+Options 'Qs' (search all points), 'Qbb' (scale last coordinate), or
+'QbB' (scale to unit box) may remove this warning.
+See 'Limitations' in qh-impre.htm.  Use 'Pp' to skip this warning.
+[05/26 04:48:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5009_ceiling.xml
+[05/26 04:48:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5009, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:48:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:48:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects
+[05/26 04:48:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:48:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:48:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:48:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:48:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:48:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth white ceramic serving bowl and place it in or on the wooden box'
+[05/26 04:48:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 5009 episode 0/1 collected=0/2
+[05/26 04:48:19 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:48:19 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeheadpiece_f467a02f004e4135aaa59de93fe2d23c_1_0_3 in scene
+[05/26 04:48:19 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_3 in scene
+[2026-05-26 04:50:03,938] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:54:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 5009 episode 0 object bowl_78149002af9123140d89c62daea42a75_1_0_2 completed with success=False
+[05/26 04:54:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5009: 1 episodes
+[05/26 04:54:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:54:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:54:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5009
+[05/26 04:54:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5009 in 3.15s (batch: 3.06s, save: 0.09s)
+[05/26 04:54:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5009
+[05/26 04:54:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5009: 0/1 successful episodes
+[05/26 04:54:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5075 (index 26/37)
+[05/26 04:54:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5075 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 04:54:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+[05/26 04:54:53 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/b4e33154ce3a40e4bd2b34f8de4f548c
+[05/26 04:54:53 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/5fa7101ca3744068ae84b30dbf0a9240
+[05/26 04:54:53 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/d318587cfc624b18b52a3a7fb7124373
+[05/26 04:54:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5075_ceiling.xml
+[05/26 04:54:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5075, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:54:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:54:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 78 objects
+[05/26 04:54:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:54:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:54:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:54:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:54:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:54:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the angled lever with stone base and place it in or on the brown bowl'
+[05/26 04:54:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 5075 episode 0/1 collected=0/2
+[05/26 04:54:58 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:54:58 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_7 in scene
+[2026-05-26 04:56:17,260] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:56:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 05:44:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 5075 episode 0 object objalever_5d821ac7148240c092c4face44c1d096_1_0_6 completed with success=False
+[05/26 05:44:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5075: 1 episodes
+[05/26 05:44:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:44:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:44:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5075
+[05/26 05:44:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5075 in 3.00s (batch: 2.82s, save: 0.18s)
+[05/26 05:44:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5075
+[05/26 05:44:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5075: 0/1 successful episodes
+[05/26 05:44:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5153 (index 27/37)
+[05/26 05:44:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5153 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 05:44:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
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+[05/26 05:44:52 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/42f50ecee3da4df498c0e1b4319366a4
+[05/26 05:44:52 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/423c9b6a27254a00aa283647a7e9b1ba
+[05/26 05:44:52 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Pot_7
+[05/26 05:44:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5153_ceiling.xml
+[05/26 05:44:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5153, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:44:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:44:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects
+[05/26 05:44:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:44:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:44:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:44:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:44:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:44:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light stone floral molding and place it in or on the shallow round wooden bowl'
+[05/26 05:44:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 5153 episode 0/1 collected=0/2
+[05/26 05:44:57 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:47:14,016] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:48:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 05:51:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 5153 episode 0 object objadecorativemolding_4702dc29dd224b26a66e95b408e5ce85_1_0_7 completed with success=False
+[05/26 05:52:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5153: 1 episodes
+[05/26 05:52:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:52:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:52:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5153
+[05/26 05:52:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5153 in 3.05s (batch: 2.92s, save: 0.13s)
+[05/26 05:52:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5153
+[05/26 05:52:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5153: 0/1 successful episodes
+[05/26 05:52:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5178 (index 28/37)
+[05/26 05:52:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5178 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 05:52:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
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+[05/26 05:52:13 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/e2a8c3df68a94aea94050e01ad9aa918
+[05/26 05:52:13 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/a2e1b30c4fbb491e9aeff5cccdfc00ec
+[05/26 05:52:13 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/977c0bb0114e4728b7c6ccb89da913ec
+[05/26 05:52:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5178_ceiling.xml
+[05/26 05:52:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5178, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:52:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:52:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects
+[05/26 05:52:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:52:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:52:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:52:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:52:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:52:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cream beetle with black horns and place it in or on the rectangular platform with recessed center'
+[05/26 05:52:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 5178 episode 0/2 collected=0/2
+[05/26 05:52:19 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:54:22,817] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:55:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 05:58:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5178 episode 0 object objabeetle_a6f2a6fe7a3c4d19831f1bd79d664dcc_1_0_8 completed with success=False
+[05/26 05:59:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
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+[05/26 05:59:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/e2a8c3df68a94aea94050e01ad9aa918
+[05/26 05:59:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/a2e1b30c4fbb491e9aeff5cccdfc00ec
+[05/26 05:59:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/977c0bb0114e4728b7c6ccb89da913ec
+[05/26 05:59:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5178_ceiling.xml
+[05/26 05:59:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5178, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:59:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:59:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects
+[05/26 05:59:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:59:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:59:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:59:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:59:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:59:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the colorful mosaic tile in stone and place it in or on the white ceramic mug with handle'
+[05/26 05:59:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 5178 episode 1/2 collected=1/2
+[05/26 05:59:10 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:00:57,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:01:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 06:03:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 5178 episode 1 object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 completed with success=False
+[05/26 06:04:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5178: 2 episodes
+[05/26 06:04:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:04:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:04:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:04:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:04:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5178
+[05/26 06:04:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5178 in 6.23s (batch: 5.91s, save: 0.32s)
+[05/26 06:04:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5178
+[05/26 06:04:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5178: 0/2 successful episodes
+[05/26 06:04:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5189 (index 29/37)
+[05/26 06:04:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5189 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 06:04:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/15 [00:00<?, ?it/s]
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+
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Checking grasps/droid_objaverse: 100%|██████████| 6/6 [00:00<00:00, 993.71it/s]
+[05/26 06:04:11 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Pot_14
+[05/26 06:04:11 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/c44ac768e7304df58ebf13ba4c6eed11
+[05/26 06:04:11 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_13
+[05/26 06:04:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5189_ceiling.xml
+[05/26 06:04:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5189, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:04:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:04:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects
+[05/26 06:04:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:04:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:04:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:04:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:04:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:04:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy black sign with pink and place it in or on the rough gray bowl'
+[05/26 06:04:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 5189 episode 0/1 collected=0/2
+[05/26 06:04:15 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:06:24,783] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:07:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 06:14:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 5189 episode 0 object objasignage_2bf2a240a54742d194cd7e33e7c4c747_1_0_2 completed with success=False
+[05/26 06:14:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5189: 1 episodes
+[05/26 06:14:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:15:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:15:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5189
+[05/26 06:15:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5189 in 3.34s (batch: 3.15s, save: 0.19s)
+[05/26 06:15:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5189
+[05/26 06:15:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5189: 0/1 successful episodes
+[05/26 06:15:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5262 (index 30/37)
+[05/26 06:15:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5262 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 06:15:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
Checking grasps/droid_objaverse:   0%|          | 0/23 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 23/23 [00:00<00:00, 4623.04it/s]
+
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+[05/26 06:15:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/bdd36c94f3f74f22b02b8a069c8d97b7
+[05/26 06:15:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/7754545bd7044b298506bb35b05578d5
+[05/26 06:15:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Pot_12
+[05/26 06:15:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5262_ceiling.xml
+[05/26 06:15:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5262, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:15:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:15:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects
+[05/26 06:15:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:15:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:15:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:15:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:15:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:15:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray ring with colorful spheres and place it in or on the white bowl with liquid soup'
+[05/26 06:15:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 5262 episode 0/1 collected=0/2
+[05/26 06:15:22 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 06:15:23 Worker 0 WARNING object_manager.py:1238] Could not find object objacoil_c4fcd63753e740aa9efac5edfe7a7506_1_0_7 in scene
+[05/26 06:15:23 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_7 in scene
+[2026-05-26 06:16:51,521] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:18:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 06:23:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 5262 episode 0 object objadecorativering_73d4f9433c2649d0bb702f46c01c3d9a_1_0_6 completed with success=False
+[05/26 06:23:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5262: 1 episodes
+[05/26 06:23:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:23:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:23:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5262
+[05/26 06:23:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5262 in 3.25s (batch: 3.11s, save: 0.14s)
+[05/26 06:23:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5262
+[05/26 06:23:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5262: 0/1 successful episodes
+[05/26 06:23:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5323 (index 31/37)
+[05/26 06:23:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5323 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 06:23:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/42 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 42/42 [00:00<00:00, 33200.30it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/20 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 20/20 [00:00<00:00, 12043.95it/s]
+[05/26 06:23:50 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/2b66d433fad7419d994eb2b098293577
+[05/26 06:23:50 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/f9561598da77463f9eb6fecd4bc301b5
+[05/26 06:23:50 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/e776cc1b82d54420a55e924510c027c5
+[05/26 06:23:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5323_ceiling.xml
+[05/26 06:23:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5323, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:23:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:23:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects
+[05/26 06:23:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:23:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:23:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:23:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:23:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:23:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark gray cylindrical suppressor and place it in or on the glossy marbled gray bowl'
+[05/26 06:23:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 5323 episode 0/1 collected=0/2
+[05/26 06:23:56 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:25:29,804] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:25:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 06:29:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 5323 episode 0 object objasuppressor_03d3fab9cfb94bdfa9fcf0eff0eb1b75_1_0_8 completed with success=False
+[05/26 06:29:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5323: 1 episodes
+[05/26 06:29:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:29:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:29:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5323
+[05/26 06:29:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5323 in 3.17s (batch: 3.03s, save: 0.14s)
+[05/26 06:29:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5323
+[05/26 06:29:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5323: 0/1 successful episodes
+[05/26 06:29:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5408 (index 32/37)
+[05/26 06:29:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5408 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 06:29:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+[05/26 06:29:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/f8b3d867de194e6cb587c89d54ed8f0e
+[05/26 06:29:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/af624cab76c04bec86f0c928207797d8
+[05/26 06:29:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/9e167f4b5fcd446e8ff3c4ca5b257286
+[05/26 06:29:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5408_ceiling.xml
+[05/26 06:29:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5408, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:29:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:29:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects
+[05/26 06:29:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:29:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:29:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:29:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:29:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:29:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gold metallic cursive script nameplate and place it in or on the rustic green ceramic bowl'
+[05/26 06:29:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 5408 episode 0/1 collected=0/2
+[05/26 06:29:30 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 06:29:31 Worker 0 WARNING object_manager.py:1238] Could not find object objastonedish_7bf14a57ee5345689c3efd4bd1616466_1_0_6 in scene
+[05/26 06:29:31 Worker 0 WARNING object_manager.py:1238] Could not find object objanameplate_bc384e6f26f84b04997161e3acde4bc3_1_0_6 in scene
+[2026-05-26 06:31:22,290] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:34:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5408 episode 0 object objadecorativesign_748089ad5eb441ccb3e9f8561567b021_1_0_6 completed with success=False
+[05/26 06:34:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5408: 1 episodes
+[05/26 06:34:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:34:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:34:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5408
+[05/26 06:34:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5408 in 2.78s (batch: 2.64s, save: 0.13s)
+[05/26 06:34:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5408
+[05/26 06:34:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5408: 0/1 successful episodes
+[05/26 06:34:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5442 (index 33/37)
+[05/26 06:34:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5442 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 06:34:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 06:34:52 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_20
+[05/26 06:34:52 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/44f5be7685c1439c85cf9bc36e78578a
+[05/26 06:34:52 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/591a76b35b094562b9dec8ffa5b77387
+[05/26 06:34:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5442_ceiling.xml
+[05/26 06:34:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5442, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:34:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:34:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 93 objects
+[05/26 06:34:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:34:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:34:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:34:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:34:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:34:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white paper roll and place it in or on the rustic gray bowl'
+[05/26 06:34:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 5442 episode 0/1 collected=0/2
+[05/26 06:34:58 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 06:34:59 Worker 0 WARNING object_manager.py:1238] Could not find object vase_6cb319ff57e79d3745bd6ac29c8adb3d_1_0_8 in scene
+[2026-05-26 06:36:29,672] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:43:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5442 episode 0 object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_9 completed with success=False
+[05/26 06:43:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5442: 1 episodes
+[05/26 06:43:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:43:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:43:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5442
+[05/26 06:43:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5442 in 2.92s (batch: 2.83s, save: 0.09s)
+[05/26 06:43:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5442
+[05/26 06:43:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5442: 0/1 successful episodes
+[05/26 06:43:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5482 (index 34/37)
+[05/26 06:43:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5482 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 06:43:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+[05/26 06:43:36 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/fe6a6e9cf17545179f8c6b81e5499b46
+[05/26 06:43:36 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/0cb14e8a04de4c39ac8714a98fba9883
+[05/26 06:43:36 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/c2bd80794a3947238fe610f5733be9d2
+[05/26 06:43:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5482_ceiling.xml
+[05/26 06:43:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5482, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:43:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:43:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects
+[05/26 06:43:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:43:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:43:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:43:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:43:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:43:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the beige flint spearhead and place it in or on the round gray bowl'
+[05/26 06:43:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 5482 episode 0/1 collected=0/2
+[05/26 06:43:40 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:45:00,408] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:45:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 06:47:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 5482 episode 0 object objastonetool_f5a48834fc66497ebc416ef94ec2eeeb_1_0_2 completed with success=False
+[05/26 06:47:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5482: 1 episodes
+[05/26 06:47:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:47:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:47:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5482
+[05/26 06:47:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5482 in 2.15s (batch: 2.06s, save: 0.09s)
+[05/26 06:47:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5482
+[05/26 06:47:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5482: 0/1 successful episodes
+[05/26 06:47:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5511 (index 35/37)
+[05/26 06:47:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 06:47:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
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+
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+[05/26 06:47:54 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Pot_24
+[05/26 06:47:54 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/937044a40c3845bf88639056005b8a75
+[05/26 06:47:54 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_29
+[05/26 06:47:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5511_ceiling.xml
+[05/26 06:47:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5511, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:47:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:47:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects
+[05/26 06:47:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:47:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:47:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:47:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:47:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:47:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the vintage metal sharpener and place it in or on the crockery'
+[05/26 06:47:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 5511 episode 0/1 collected=0/2
+[05/26 06:47:58 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:48:55,887] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:53:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 5511 episode 0 object objapencilsharpener_90238a6e97484f7ca846101ed7f43eac_1_0_9 completed with success=False
+[05/26 06:53:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5511: 1 episodes
+[05/26 06:53:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:53:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:53:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5511
+[05/26 06:53:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5511 in 2.19s (batch: 2.10s, save: 0.09s)
+[05/26 06:53:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5511
+[05/26 06:53:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5511: 0/1 successful episodes
+[05/26 06:53:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5555 (index 36/37)
+[05/26 06:53:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5555 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 06:53:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/12 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 12/12 [00:00<00:00, 23685.48it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/8 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 8/8 [00:00<00:00, 6951.41it/s]
+[05/26 06:53:18 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/bfae6fa9a7f64b9eb16f57c05553c612
+[05/26 06:53:18 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/fe6a6e9cf17545179f8c6b81e5499b46
+[05/26 06:53:18 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_8
+[05/26 06:53:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5555_ceiling.xml
+[05/26 06:53:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5555, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:53:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:53:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects
+[05/26 06:53:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:53:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:53:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:53:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:53:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:53:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pink flower with yellow center and leaves and place it in or on the smooth silver bowl'
+[05/26 06:53:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 5555 episode 0/1 collected=0/2
+[05/26 06:53:19 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 06:53:19 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyhouse_6404a5eb445d48e1a96d98e013904cf9_1_0_3 in scene
+[05/26 06:53:19 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_3 in scene
+[2026-05-26 06:54:18,517] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:54:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 06:57:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 5555 episode 0 object objadecorativeflower_99e08ec1b42241c080912996eebbffe6_1_0_2 completed with success=False
+[05/26 06:57:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5555: 1 episodes
+[05/26 06:57:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:57:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:57:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5555
+[05/26 06:57:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5555 in 2.50s (batch: 2.37s, save: 0.13s)
+[05/26 06:57:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5555
+[05/26 06:57:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5555: 0/1 successful episodes
+[05/26 06:57:32 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses
+[05/26 06:57:32 INFO pipeline.py:1496] Completed 37 houses, skipped 0 houses
+[05/26 06:57:32 INFO pipeline.py:1499] Success count: 0, Total count: 41
+[05/26 06:57:32 INFO pipeline.py:1500] Success rate: 0.00%
+Combined 41 episodes from 37 files → /tmp/tmpgn34_c2g.h5
+
+Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/results.csv at-end: 0.0% | oracle: 0.0% of 41 episodes
+[2026-05-26 06:57:38,653] INFO MolmoSpaces simulator eval finished: success=0/41 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval
+[2026-05-26 06:57:38,653] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/results.csv
diff --git a/pnp_v2/pnp_v2/shards/shard_05/eval/eval_meta.json b/pnp_v2/pnp_v2/shards/shard_05/eval/eval_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4b0a81b85a3784eb096f4feaf2500bb5627d7af
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_05/eval/eval_meta.json
@@ -0,0 +1,9 @@
+{
+  "step": null,
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05",
+  "policy_name": "latest",
+  "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441",
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/results.csv"
+}
diff --git a/pnp_v2/pnp_v2/shards/shard_05/eval/results.csv b/pnp_v2/pnp_v2/shards/shard_05/eval/results.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f5858228fb9d0358ed24c822ca4cddf7d30fae56
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_05/eval/results.csv
@@ -0,0 +1,46 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441
+# dt: 0.066
+# max_steps: 450
+policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std
+latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.476358,0.0
+latest,Cup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.463959,0.0
+latest,Knife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.650204,0.0
+latest,Objabeetle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,151.637038,0.0
+latest,Objabeveragecarton,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.324783,0.0
+latest,Objabird,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.380024,0.0
+latest,Objacalculatorradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.756867,0.0
+latest,Objadecorativeblade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.643231,0.0
+latest,Objadecorativeenvelope,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.250686,0.0
+latest,Objadecorativeflower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,124.399361,0.0
+latest,Objadecorativemolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.066419,0.0
+latest,Objadecorativering,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.67109,0.0
+latest,Objadecorativesign,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.654184,0.0
+latest,Objadecorativetext,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.466492,0.0
+latest,Objadigitalcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.790764,0.0
+latest,Objadoorlock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.868179,0.0
+latest,Objadslrcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.99138,0.0
+latest,Objaelectronicdisplay,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.166066,0.0
+latest,Objagoblet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,138.646122,0.0
+latest,Objahandaxe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.219642,0.0
+latest,Objalever,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,71.478458,0.0
+latest,Objamagnet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.370801,0.0
+latest,Objamidikeyboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.282336,0.0
+latest,Objamosaicfragment,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.719483,0.0
+latest,Objamoviecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,85.735465,0.0
+latest,Objanightvisiongoggles,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.42998,0.0
+latest,Objapackaging,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.515094,0.0
+latest,Objapencilsharpener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.108293,0.0
+latest,Objaremotecontrol,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.235253,0.0
+latest,Objaring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.226251,0.0
+latest,Objasecuritykeypad,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.461717,0.0
+latest,Objasignage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,112.065846,0.0
+latest,Objasneaker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.632497,0.0
+latest,Objastonetool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.927069,0.0
+latest,Objastraightrazor,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.47114,0.0
+latest,Objasuppressor,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.180842,0.0
+latest,Objaticket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.613347,0.0
+latest,Objatoiletpaper,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,69.602167,33.031202
+latest,Objatoyjet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.12976,0.0
+latest,Objavessel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.119914,0.0
+latest,OVERALL,0,41,0.0,0.06,8.41,0,0.0,0.06,8.41,47.839774,35.057394
diff --git a/pnp_v2/pnp_v2/shards/shard_05/eval/summary.json b/pnp_v2/pnp_v2/shards/shard_05/eval/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcb987ca44d48536638011eb5679169a0d8ccb4c
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_05/eval/summary.json
@@ -0,0 +1,124 @@
+{
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05",
+  "benchmark_source": "arg",
+  "benchmark_mode": "official",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441",
+  "policy_name": "latest",
+  "policy_device": "cuda:0",
+  "camera_names": [
+    "droid_shoulder_light_randomization",
+    "wrist_camera_zed_mini"
+  ],
+  "preview_camera_names": [
+    "droid_shoulder_light_randomization",
+    "wrist_camera_zed_mini"
+  ],
+  "save_video_sensors": [
+    "__none__"
+  ],
+  "obs_camera_name": "droid_shoulder_light_randomization",
+  "obs_wrist_camera_name": "wrist_camera_zed_mini",
+  "action_chunk_size": 8,
+  "end_on_success": true,
+  "num_workers": 1,
+  "task_horizon_steps": 450,
+  "max_episodes": null,
+  "episode_idx": null,
+  "resolved_episode_idx": null,
+  "random_episode": false,
+  "random_seed": 42,
+  "metrics_mean": {
+    "success_rate": 0.0,
+    "success_count": 0.0,
+    "total_episodes": 41.0,
+    "avg_episode_length": 449.0,
+    "oracle_done_rate": 0.0,
+    "success_rate_pct": 0.0,
+    "oracle_rate_pct": 0.0
+  },
+  "stats": {
+    "total_episodes": 41,
+    "success_count": 0,
+    "failure_count": 41,
+    "success_rate": 0.0,
+    "avg_episode_length": 449.0,
+    "min_episode_length": 449,
+    "max_episode_length": 449,
+    "num_houses": 37,
+    "house_success_rates": {
+      "house_3886": 0.0,
+      "house_3916": 0.0,
+      "house_3961": 0.0,
+      "house_4005": 0.0,
+      "house_4041": 0.0,
+      "house_4124": 0.0,
+      "house_4155": 0.0,
+      "house_4163": 0.0,
+      "house_4256": 0.0,
+      "house_4322": 0.0,
+      "house_4365": 0.0,
+      "house_4403": 0.0,
+      "house_4441": 0.0,
+      "house_4505": 0.0,
+      "house_4511": 0.0,
+      "house_4556": 0.0,
+      "house_4634": 0.0,
+      "house_4686": 0.0,
+      "house_4723": 0.0,
+      "house_4750": 0.0,
+      "house_4796": 0.0,
+      "house_4836": 0.0,
+      "house_4900": 0.0,
+      "house_4954": 0.0,
+      "house_4965": 0.0,
+      "house_5009": 0.0,
+      "house_5075": 0.0,
+      "house_5153": 0.0,
+      "house_5178": 0.0,
+      "house_5189": 0.0,
+      "house_5262": 0.0,
+      "house_5323": 0.0,
+      "house_5408": 0.0,
+      "house_5442": 0.0,
+      "house_5482": 0.0,
+      "house_5511": 0.0,
+      "house_5555": 0.0
+    },
+    "oracle_done_count": 0,
+    "oracle_done_rate": 0.0
+  },
+  "success_count": 0,
+  "total_count": 41,
+  "success_rate": 0.0,
+  "action_config": {
+    "policy_action_type": "joint_pos_rel",
+    "arm_command_mode": "joint_rel_position",
+    "gripper_command_mode": "joint_position",
+    "arm_action_key": "joint_pos_rel",
+    "gripper_action_key": "joint_pos",
+    "source_name": "pnp_next_to_v2",
+    "source_type": "molmo_raw"
+  },
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/results.csv",
+  "csv_overall_row": {
+    "policy": "latest",
+    "category": "OVERALL",
+    "successes": 0,
+    "total": 41,
+    "success_rate_pct": 0.0,
+    "ci_95_low_pct": 0.06,
+    "ci_95_high_pct": 8.41,
+    "oracle_successes": 0,
+    "oracle_rate_pct": 0.0,
+    "oracle_ci_95_low_pct": 0.06,
+    "oracle_ci_95_high_pct": 8.41,
+    "jerk_joint_mean": 47.839774,
+    "jerk_joint_std": 35.057394
+  },
+  "preview_video": null,
+  "skip_compose_videos": true,
+  "skip_csv": false,
+  "composed_video_count": 0,
+  "composed_videos": {}
+}
\ No newline at end of file
diff --git a/pnp_v2/pnp_v2/shards/shard_05/submission/episode_results.jsonl b/pnp_v2/pnp_v2/shards/shard_05/submission/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1b58b8c7979cd74b1e295d8e8b5bbdb244da09d6
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_05/submission/episode_results.jsonl
@@ -0,0 +1,41 @@
+{"house_id": "house_3886", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden handle axe and place it in or on the glossy translucent light blue bowl", "object_name": "objahandaxe_ebb899473a5a41649e6cb25f3b27563b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3886/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3916", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the patriotic jet and place it in or on the shallow round bowl with feet", "object_name": "objatoyjet_cd2a4b5fdf9b4b5b83de34c24cec1f56_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3916/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3961", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige calculator with radio and place it in or on the pixelated bowl filled with ramen", "object_name": "objacalculatorradio_d17ba864b7a94eacaa34ee919210ba8d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3961/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4005", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dslr camera and place it in or on the blue ceramic bottle", "object_name": "objadslrcamera_74868e16ced243c088207e5d7da8c750_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4005/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4041", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow kitchen knife and place it in or on the irregular shaped reddish clay bowl", "object_name": "knife_0bc93f198121d33ac4030a34bfc944a4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4041/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4124", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular packaging box with blue and place it in or on the metal container with black lid", "object_name": "objapackaging_33c69733e61e4cc1953c79a1806b89ab_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4124/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4155", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth dark brown wooden goblet and place it in or on the black bowl with colorful grid", "object_name": "objagoblet_2e5243eb355c4b0c90aed7281e93d5a6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4155/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4155", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black night vision goggles with lenses and place it in or on the small beige bowl", "object_name": "objanightvisiongoggles_11705eaaae174eababc45a53203f59ce_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4155/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4163", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the movie camera and place it in or on the rustic bowl", "object_name": "objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4163/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4256", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek beige canon camera and place it in or on the polished wooden bowl with contrast", "object_name": "objadigitalcamera_8b7daba1ebb641448a316946a6dc1837_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4256/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4322", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the securitykeypad and place it in or on the gray bowl", "object_name": "objasecuritykeypad_e3e26581572f467d84958a12d6305aae_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4322/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4365", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown high-top sneaker with zipper and place it in or on the ceramic bowl", "object_name": "objasneaker_a1800b2df030447c93a892c85c8af8ef_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4365/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4403", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige envelope with red wax seal and place it in or on the shallow round bowl with feet", "object_name": "objadecorativeenvelope_303b287819a84f7496bd92f5d69710c7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4403/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4441", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue rectangular paper ticket with string and place it in or on the antique rustic metal bowl", "object_name": "objaticket_c57b100f3adc47ef8c8432c090ac770f_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4441/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4505", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small yellow and black bird and place it in or on the round frosted glass bowl with interior", "object_name": "objabird_5a91277584a645ac85029d4f7342b742_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4505/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4505", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metallic sleek blade and place it in or on the ceramic bowl", "object_name": "objadecorativeblade_c38337ff48c9480788b04c3afa7464a9_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4505/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4511", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue glossy sign with rounded letters and place it in or on the round dark stone bowl", "object_name": "objadecorativetext_452e73c35de349d394a7592fdc0200e6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4511/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4556", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white remote control with yellow button and place it in or on the rustic round gray clay bowl", "object_name": "objaremotecontrol_f14da6318f904052920e78b9bb1a19ef_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4556/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4634", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white toilet roll and place it in or on the place receptacl 0", "object_name": "objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4634/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4686", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage wooden razor with blade and place it in or on the round wooden bowl with grain", "object_name": "objastraightrazor_a595190ce57a41cda01ff84d5c9eeb06_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4686/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4723", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the terracotta owl vessel with spout and place it in or on the golden bowl", "object_name": "objavessel_8bd6e267f265481682e17f696b201103_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4723/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4750", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact black and white midi keyboard and place it in or on the ceramic rustic bowl", "object_name": "objamidikeyboard_d5391486d5aa4d6aa54777beecd49534_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4750/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4796", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue and white carton and place it in or on the metallic tray", "object_name": "objabeveragecarton_55d0a4c01b9e4a2cab8112162ea61cfb_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4796/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4836", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red u-shaped magnet and place it in or on the rectangular box with patterned lid", "object_name": "objamagnet_d2d922add236472ea43a39de0d739755_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4836/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4900", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished smooth golden circular ring and place it in or on the rustic terracotta bowl", "object_name": "objaring_c20681970f3f4e449aeec50291be17b1_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4900/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4954", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the robust metal door lock mechanism and place it in or on the rustic brown coconut bowl", "object_name": "objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4954/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4954", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the thin white electronic display showing promotion and place it in or on the rustic brown coconut bowl", "object_name": "objaelectronicdisplay_39fdfa7c14a640b58a5ff5e47a1af37c_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4954/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4965", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall dark cup and place it in or on the hand-painted insect bowl", "object_name": "cup_56edd85aeab4ab58cc2b44e71d5e86bf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4965/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5009", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth white ceramic serving bowl and place it in or on the wooden box", "object_name": "bowl_78149002af9123140d89c62daea42a75_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5009/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5075", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the angled lever with stone base and place it in or on the brown bowl", "object_name": "objalever_5d821ac7148240c092c4face44c1d096_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5075/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5153", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light stone floral molding and place it in or on the shallow round wooden bowl", "object_name": "objadecorativemolding_4702dc29dd224b26a66e95b408e5ce85_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5153/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5178", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cream beetle with black horns and place it in or on the rectangular platform with recessed center", "object_name": "objabeetle_a6f2a6fe7a3c4d19831f1bd79d664dcc_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5178/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5178", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the colorful mosaic tile in stone and place it in or on the white ceramic mug with handle", "object_name": "objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5178/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5189", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy black sign with pink and place it in or on the rough gray bowl", "object_name": "objasignage_2bf2a240a54742d194cd7e33e7c4c747_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5189/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5262", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray ring with colorful spheres and place it in or on the white bowl with liquid soup", "object_name": "objadecorativering_73d4f9433c2649d0bb702f46c01c3d9a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5262/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5323", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the matte dark gray cylindrical suppressor and place it in or on the glossy marbled gray bowl", "object_name": "objasuppressor_03d3fab9cfb94bdfa9fcf0eff0eb1b75_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5323/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5408", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold metallic cursive script nameplate and place it in or on the rustic green ceramic bowl", "object_name": "objadecorativesign_748089ad5eb441ccb3e9f8561567b021_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5408/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5442", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white paper roll and place it in or on the rustic gray bowl", "object_name": "objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5442/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5482", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige flint spearhead and place it in or on the round gray bowl", "object_name": "objastonetool_f5a48834fc66497ebc416ef94ec2eeeb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5482/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5511", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metal sharpener and place it in or on the crockery", "object_name": "objapencilsharpener_90238a6e97484f7ca846101ed7f43eac_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5511/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5555", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink flower with yellow center and leaves and place it in or on the smooth silver bowl", "object_name": "objadecorativeflower_99e08ec1b42241c080912996eebbffe6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5555/trajectories_batch_1_of_1.h5", "metadata": {}}
diff --git a/pnp_v2/pnp_v2/shards/shard_05/submission/eval.log b/pnp_v2/pnp_v2/shards/shard_05/submission/eval.log
new file mode 100644
index 0000000000000000000000000000000000000000..0a44f766b3a016c550836d704949982461189aca
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_05/submission/eval.log
@@ -0,0 +1,1468 @@
+[2026-05-26 01:03:53,389] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath']
+[2026-05-26 01:03:53,538] INFO Selected MuJoCo backend: egl
+[2026-05-26 01:03:53,555] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 (source=arg)
+[2026-05-26 01:03:56,480] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /home/yuanpei/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+[2026-05-26 01:04:09,772] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using:
+  symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets
+  cache_dir=/home/yuanpei/.cache/molmo-spaces-resources
+  force_install=True
+/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+[2026-05-26 01:04:37,710] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini']
+[2026-05-26 01:04:37,718] INFO Using save_video_sensors=['__none__']
+[2026-05-26 01:04:41,189] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position
+[2026-05-26 01:04:41,257] INFO Using explicit task_horizon override: 450 steps
+[05/26 01:04:41 INFO pipeline.py:677] WandB logging disabled (environment variables not set)
+[2026-05-26 01:04:41,324] INFO JsonEvalRunner initialized: 37 houses, 41 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 01:04:41 INFO pipeline.py:1279] Starting house-by-house rollout of 37 houses with 2 episodes each (74 total episodes) using 1 worker processes
+[05/26 01:04:41 INFO pipeline.py:1286] Evaluation configuration:
+[05/26 01:04:41 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05'),
+ 'camera_config': None,
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'val',
+ 'datagen_profiler': False,
+ 'end_on_success': True,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': False,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441'),
+ 'policy_config': {'action_chunk_size': 8,
+                   'action_move_group_names': ['arm', 'gripper'],
+                   'action_spec': {'arm': 7, 'gripper': 1},
+                   'action_type': 'joint_pos_rel',
+                   'allow_create_prompt_embedding': True,
+                   'camera_names': ['droid_shoulder_light_randomization',
+                                    'wrist_camera_zed_mini'],
+                   'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt',
+                   'device': 'cuda:0',
+                   'name': 'wan_molmobot_franka',
+                   'obs_camera_name': 'droid_shoulder_light_randomization',
+                   'obs_image_key': 'rgb_head',
+                   'obs_state_key': 'robot_state',
+                   'obs_wrist_camera_name': 'wrist_camera_zed_mini',
+                   'obs_wrist_image_key': 'rgb_wrist',
+                   'policy_cls': <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'>,
+                   'policy_type': 'learned',
+                   'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan',
+                   't5_tokenizer_path': 'google/umt5-xxl',
+                   'task_description_fallback': 'manipulate the target object',
+                   'text_context_key': 'text_context',
+                   'text_embedding_device': 'cpu',
+                   'text_embedding_dtype': 'bf16',
+                   'text_embedding_text_len': 512,
+                   'use_ema': False,
+                   'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'},
+ 'policy_dt_ms': 66.0,
+ 'profile': False,
+ 'profiler': None,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': False,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'base_size': [0.5, 0.5, 0.58],
+                  'command_mode': {'arm': 'joint_rel_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'perturb_texture_probability': 0.7,
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'scene_dataset': 'procthor-10k',
+ 'seed': 42,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'object_poses': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'task_cls': None,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 450,
+ 'task_sampler_config': {'check_robot_placement_visibility': True,
+                         'enable_texture_randomization': False,
+                         'house_inds': [3886,
+                                        3916,
+                                        3961,
+                                        4005,
+                                        4041,
+                                        4124,
+                                        4155,
+                                        4163,
+                                        4256,
+                                        4322,
+                                        4365,
+                                        4403,
+                                        4441,
+                                        4505,
+                                        4511,
+                                        4556,
+                                        4634,
+                                        4686,
+                                        4723,
+                                        4750,
+                                        4796,
+                                        4836,
+                                        4900,
+                                        4954,
+                                        4965,
+                                        5009,
+                                        5075,
+                                        5153,
+                                        5178,
+                                        5189,
+                                        5262,
+                                        5323,
+                                        5408,
+                                        5442,
+                                        5482,
+                                        5511,
+                                        5555],
+                         'load_robot_from_file': True,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 10,
+                         'max_allowed_sequential_task_sampler_failures': 10,
+                         'max_asset_failures': 10,
+                         'max_tasks': 10000,
+                         'max_total_attempts_multiplier': 6,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'robot_placement_exclusion_threshold': 0.15,
+                         'robot_placement_rotation_range_rad': 0.7853981633974483,
+                         'samples_per_house': 2,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.task_sampler.BaseMujocoTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'pick',
+ 'terminate_upon_success': False,
+ 'use_filament': True,
+ 'use_passive_viewer': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'wandb_name': None,
+ 'wandb_project': 'mlspaces-benchmark-eval'}
+[2026-05-26 01:04:41,341] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441
+[05/26 01:04:41 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler
+[05/26 01:04:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/26 01:04:41 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler
+[05/26 01:04:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3886 (index 0/37)
+[05/26 01:04:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3886 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 01:04:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes
+
Checking objects/objaverse:   0%|          | 0/19 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 19/19 [00:00<00:00, 53955.16it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/8 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 8/8 [00:00<00:00, 36353.66it/s]
+[05/26 01:04:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_12
+[05/26 01:04:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_7
+[05/26 01:04:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/977c0bb0114e4728b7c6ccb89da913ec
+[05/26 01:04:46 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+WARNING:2026-05-26 01:04:53,052:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu.
+[2026-05-26 01:04:53,052] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu.
+[05/26 01:04:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3886_ceiling.xml
+[05/26 01:04:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3886, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:04:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:04:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects
+[05/26 01:04:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:04:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:04:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:04:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:04:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:05:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the wooden handle axe and place it in or on the glossy translucent light blue bowl'
+[05/26 01:05:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 3886 episode 0/1 collected=0/2
+[05/26 01:05:04 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:05:04 Worker 0 WARNING object_manager.py:1238] Could not find object objahandaxe_edf08aca9c6b4b598c267da1596b58d4_1_0_2 in scene
+[05/26 01:05:04 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_4d97da0c296398947839b0e020453a0f_1_0_2 in scene
+2026-05-26 01:06:06.585 | INFO     | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0
+[2026-05-26 01:06:42,047] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k)
+[2026-05-26 01:06:44,108] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors.
+[2026-05-26 01:08:51,514] INFO Number of parameters in DiT: 1.821428e+07
+[2026-05-26 01:09:04,850] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8
+[2026-05-26 01:09:04,857] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8
+[05/26 01:09:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 01:13:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 3886 episode 0 object objahandaxe_ebb899473a5a41649e6cb25f3b27563b_1_0_2 completed with success=False
+[05/26 01:13:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3886: 1 episodes
+[05/26 01:13:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:13:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:13:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3886
+[05/26 01:13:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3886 in 5.83s (batch: 5.58s, save: 0.26s)
+[05/26 01:13:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3886
+[05/26 01:13:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3886: 0/1 successful episodes
+[05/26 01:13:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3916 (index 1/37)
+[05/26 01:13:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 01:13:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 01:13:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/c7df0f7671d34fb9817d37067072f9ab
+[05/26 01:13:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Pot_27
+[05/26 01:13:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/DecorativeBox2
+[05/26 01:13:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3916_ceiling.xml
+[05/26 01:13:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3916, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:13:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:13:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects
+[05/26 01:13:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:13:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:13:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:13:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:13:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:13:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the patriotic jet and place it in or on the shallow round bowl with feet'
+[05/26 01:13:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 3916 episode 0/1 collected=0/2
+[05/26 01:13:16 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:16:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 01:24:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 3916 episode 0 object objatoyjet_cd2a4b5fdf9b4b5b83de34c24cec1f56_1_0_2 completed with success=False
+[05/26 01:24:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3916: 1 episodes
+[05/26 01:24:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:24:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:24:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3916
+[05/26 01:24:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3916 in 2.21s (batch: 2.12s, save: 0.09s)
+[05/26 01:24:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3916
+[05/26 01:24:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3916: 0/1 successful episodes
+[05/26 01:24:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3961 (index 2/37)
+[05/26 01:24:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3961 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 01:24:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
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+[05/26 01:26:31 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/496bd9f05a714e608a41a24b169937f6
+[05/26 01:26:31 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/12ca824c9c81470d994ceccb4b5a9061
+[05/26 01:26:31 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/2911e8c87d49402c9e3c18277c8b2b2a
+[05/26 01:26:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3961_ceiling.xml
+[05/26 01:26:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3961, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:26:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:26:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects
+[05/26 01:26:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:26:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:26:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:26:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:26:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:26:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the beige calculator with radio and place it in or on the pixelated bowl filled with ramen'
+[05/26 01:26:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 3961 episode 0/1 collected=0/2
+[05/26 01:26:33 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object objafantasyplant_c8251feed92f41f197376ab4fd543e27_1_0_6 in scene
+[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object objamannequinhand_9507be033ab14d248bc3479e16927993_1_0_6 in scene
+[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_6 in scene
+[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object apple_ff93afa9f54bdc5d2bd30356940afcac_1_0_6 in scene
+[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object objastoneslab_31b90e243892445380948dc39af237cf_1_0_7 in scene
+[2026-05-26 01:27:28,223] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+[05/26 01:30:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 3961 episode 0 object objacalculatorradio_d17ba864b7a94eacaa34ee919210ba8d_1_0_6 completed with success=False
+[05/26 01:30:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3961: 1 episodes
+[05/26 01:30:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:30:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:30:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3961
+[05/26 01:30:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3961 in 2.13s (batch: 2.03s, save: 0.10s)
+[05/26 01:30:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3961
+[05/26 01:30:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3961: 0/1 successful episodes
+[05/26 01:30:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4005 (index 3/37)
+[05/26 01:30:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4005 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 01:30:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+[05/26 01:33:24 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/4b5c2f816e814756960ac3be616fd29d
+[05/26 01:33:24 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/2df58d08f5604c058d43e00677d325b6
+[05/26 01:33:24 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/74f5c16ba1f5406ba30bda961f0c0bd1
+[05/26 01:33:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4005_ceiling.xml
+[05/26 01:33:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4005, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:33:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:33:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects
+[05/26 01:33:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:33:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:33:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:33:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:33:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:33:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dslr camera and place it in or on the blue ceramic bottle'
+[05/26 01:33:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 4005 episode 0/1 collected=0/2
+[05/26 01:33:29 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 01:35:11,932] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 01:40:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4005 episode 0 object objadslrcamera_74868e16ced243c088207e5d7da8c750_1_0_9 completed with success=False
+[05/26 01:40:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4005: 1 episodes
+[05/26 01:40:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:40:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:40:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4005
+[05/26 01:40:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4005 in 3.42s (batch: 3.33s, save: 0.09s)
+[05/26 01:40:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4005
+[05/26 01:40:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4005: 0/1 successful episodes
+[05/26 01:40:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4041 (index 4/37)
+[05/26 01:40:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 01:40:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 01:41:21 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/3339ce474c3d4fb3a35952f476ca1e4a
+[05/26 01:41:21 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/936714802d2849bea3efb1eb5c83cee6
+[05/26 01:41:21 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/bfcfd4c7bfa649259e047eb92e6a5c31
+[05/26 01:41:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4041_ceiling.xml
+[05/26 01:41:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4041, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:41:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:41:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects
+[05/26 01:41:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:41:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:41:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:41:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:41:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:41:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow kitchen knife and place it in or on the irregular shaped reddish clay bowl'
+[05/26 01:41:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 4041 episode 0/1 collected=0/2
+[05/26 01:41:23 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:41:23 Worker 0 WARNING object_manager.py:1238] Could not find object apple_523cec3bd66eec1b41ffd2506874d275_1_0_2 in scene
+[2026-05-26 01:42:53,247] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 01:43:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 01:45:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4041 episode 0 object knife_0bc93f198121d33ac4030a34bfc944a4_1_0_2 completed with success=False
+[05/26 01:45:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4041: 1 episodes
+[05/26 01:45:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:45:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:45:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4041
+[05/26 01:45:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4041 in 2.25s (batch: 2.16s, save: 0.09s)
+[05/26 01:45:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4041
+[05/26 01:45:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4041: 0/1 successful episodes
+[05/26 01:45:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4124 (index 5/37)
+[05/26 01:45:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4124 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 01:45:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 01:53:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/7bcc0425058142c59255979a2b61f0d2
+[05/26 01:53:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/a6cfd144a62e446c92f0987fb81d584f
+[05/26 01:53:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/93ef7da87b1e43fbb47f3b26b927f777
+[05/26 01:53:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4124_ceiling.xml
+[05/26 01:53:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4124, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:53:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:53:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 91 objects
+[05/26 01:53:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:53:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:53:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:53:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:53:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:53:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white rectangular packaging box with blue and place it in or on the metal container with black lid'
+[05/26 01:53:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 4124 episode 0/1 collected=0/2
+[05/26 01:53:26 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 01:54:21,971] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 01:57:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4124 episode 0 object objapackaging_33c69733e61e4cc1953c79a1806b89ab_1_0_7 completed with success=False
+[05/26 01:57:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4124: 1 episodes
+[05/26 01:57:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:57:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:57:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4124
+[05/26 01:57:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4124 in 3.74s (batch: 3.63s, save: 0.12s)
+[05/26 01:57:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4124
+[05/26 01:57:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4124: 0/1 successful episodes
+[05/26 01:57:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4155 (index 6/37)
+[05/26 01:57:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4155 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 01:57:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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Checking grasps/droid_objaverse: 100%|██████████| 15/15 [00:00<00:00, 42711.85it/s]
+[05/26 01:57:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/836b48b21dcb4842a208c66f106abf18
+[05/26 01:57:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/472cceee5a224ff6933e7baf31d16641
+[05/26 01:57:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/7b3bfdab414148a08cbf46fc105e280a
+[05/26 01:57:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4155_ceiling.xml
+[05/26 01:57:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4155, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:57:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:57:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects
+[05/26 01:57:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:57:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:57:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:57:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:57:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:57:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth dark brown wooden goblet and place it in or on the black bowl with colorful grid'
+[05/26 01:57:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 4155 episode 0/2 collected=0/2
+[05/26 01:57:51 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:57:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_efc08602dbff41d28ab59d29b36fdb05_1_0_3 in scene
+[05/26 01:57:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_b891ef9e4e564492b6fe0db01ebeae72_1_0_3 in scene
+[05/26 01:57:51 Worker 0 WARNING object_manager.py:1238] Could not find object box_e01bbd7deecc2b767c1f2ee9de0d6982_1_0_4 in scene
+[2026-05-26 01:59:44,113] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:00:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 02:07:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4155 episode 0 object objagoblet_2e5243eb355c4b0c90aed7281e93d5a6_1_0_2 completed with success=False
+[05/26 02:07:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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Checking grasps/droid_objaverse: 100%|██████████| 15/15 [00:00<00:00, 42538.58it/s]
+[05/26 02:07:44 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/836b48b21dcb4842a208c66f106abf18
+[05/26 02:07:44 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/472cceee5a224ff6933e7baf31d16641
+[05/26 02:07:44 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/7b3bfdab414148a08cbf46fc105e280a
+[05/26 02:07:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4155_ceiling.xml
+[05/26 02:07:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4155, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:07:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:07:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects
+[05/26 02:07:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:07:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:07:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:07:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:07:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:07:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black night vision goggles with lenses and place it in or on the small beige bowl'
+[05/26 02:07:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 4155 episode 1/2 collected=1/2
+[05/26 02:07:50 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:07:50 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_efc08602dbff41d28ab59d29b36fdb05_1_0_3 in scene
+[05/26 02:07:50 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_b891ef9e4e564492b6fe0db01ebeae72_1_0_3 in scene
+[05/26 02:07:50 Worker 0 WARNING object_manager.py:1238] Could not find object box_e01bbd7deecc2b767c1f2ee9de0d6982_1_0_4 in scene
+[2026-05-26 02:09:57,708] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:11:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 02:15:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 4155 episode 1 object objanightvisiongoggles_11705eaaae174eababc45a53203f59ce_1_0_6 completed with success=False
+[05/26 02:15:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4155: 2 episodes
+[05/26 02:15:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:15:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:15:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:15:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:15:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4155
+[05/26 02:15:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4155 in 6.39s (batch: 6.14s, save: 0.25s)
+[05/26 02:15:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4155
+[05/26 02:15:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4155: 0/2 successful episodes
+[05/26 02:15:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4163 (index 7/37)
+[05/26 02:15:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4163 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 02:15:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 02:15:50 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/9e167f4b5fcd446e8ff3c4ca5b257286
+[05/26 02:15:50 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/7d2737e16fcf4d40bc549521ba6a2d02
+[05/26 02:15:50 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/af838119a5a14e6ea3cc7e6cb53e2bd8
+[05/26 02:15:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4163_ceiling.xml
+[05/26 02:15:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4163, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:15:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:15:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects
+[05/26 02:15:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:15:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:15:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:15:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:15:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:15:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the movie camera and place it in or on the rustic bowl'
+[05/26 02:15:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 4163 episode 0/1 collected=0/2
+[05/26 02:15:53 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:17:24,665] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:22:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4163 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_6 completed with success=False
+[05/26 02:22:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4163: 1 episodes
+[05/26 02:22:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:22:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:22:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4163
+[05/26 02:22:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4163 in 3.47s (batch: 3.32s, save: 0.15s)
+[05/26 02:22:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4163
+[05/26 02:22:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4163: 0/1 successful episodes
+[05/26 02:22:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4256 (index 8/37)
+[05/26 02:22:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4256 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 02:22:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+[05/26 02:22:45 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4
+[05/26 02:22:45 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/bdd36c94f3f74f22b02b8a069c8d97b7
+[05/26 02:22:45 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/c7df0f7671d34fb9817d37067072f9ab
+[05/26 02:22:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4256_ceiling.xml
+[05/26 02:22:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4256, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:22:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:22:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects
+[05/26 02:22:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:22:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:22:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:22:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:22:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:22:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the sleek beige canon camera and place it in or on the polished wooden bowl with contrast'
+[05/26 02:22:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 4256 episode 0/1 collected=0/2
+[05/26 02:22:50 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:24:50,967] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:26:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 02:31:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4256 episode 0 object objadigitalcamera_8b7daba1ebb641448a316946a6dc1837_1_0_4 completed with success=False
+[05/26 02:31:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4256: 1 episodes
+[05/26 02:31:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:31:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:31:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4256
+[05/26 02:31:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4256 in 2.73s (batch: 2.62s, save: 0.11s)
+[05/26 02:31:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4256
+[05/26 02:31:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4256: 0/1 successful episodes
+[05/26 02:31:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4322 (index 9/37)
+[05/26 02:31:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4322 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 02:31:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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Checking grasps/droid_objaverse:   0%|          | 0/22 [00:00<?, ?it/s]
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+[05/26 02:32:01 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/659e6917a5b145fc88b46882fde3764d
+[05/26 02:32:01 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_23
+[05/26 02:32:01 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/76d1dd1d3f874897b4a630216570d49d
+[05/26 02:32:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4322_ceiling.xml
+[05/26 02:32:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4322, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:32:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:32:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects
+[05/26 02:32:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:32:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:32:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:32:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:32:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:32:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the securitykeypad and place it in or on the gray bowl'
+[05/26 02:32:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 4322 episode 0/1 collected=0/2
+[05/26 02:32:05 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:33:44,443] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:34:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 02:38:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4322 episode 0 object objasecuritykeypad_e3e26581572f467d84958a12d6305aae_1_0_4 completed with success=False
+[05/26 02:38:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4322: 1 episodes
+[05/26 02:38:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:38:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:38:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4322
+[05/26 02:38:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4322 in 2.97s (batch: 2.77s, save: 0.20s)
+[05/26 02:38:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4322
+[05/26 02:38:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4322: 0/1 successful episodes
+[05/26 02:38:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4365 (index 10/37)
+[05/26 02:38:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4365 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 02:38:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/28 [00:00<?, ?it/s]
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+
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Checking grasps/droid_objaverse: 100%|██████████| 15/15 [00:00<00:00, 5569.63it/s]
+[05/26 02:38:21 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Pot_19
+[05/26 02:38:21 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/5f6ab8152ec9440e9b922def5ae8b8b2
+[05/26 02:38:21 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/4bf7b7b26a704818b1ed3d703a11855b
+[05/26 02:38:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4365_ceiling.xml
+[05/26 02:38:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4365, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:38:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:38:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects
+[05/26 02:38:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:38:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:38:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:38:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:38:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:38:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the brown high-top sneaker with zipper and place it in or on the ceramic bowl'
+[05/26 02:38:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 4365 episode 0/1 collected=0/2
+[05/26 02:38:25 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:40:34,076] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:48:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 4365 episode 0 object objasneaker_a1800b2df030447c93a892c85c8af8ef_1_0_5 completed with success=False
+[05/26 02:48:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4365: 1 episodes
+[05/26 02:48:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:49:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:49:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4365
+[05/26 02:49:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4365 in 3.80s (batch: 3.66s, save: 0.14s)
+[05/26 02:49:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4365
+[05/26 02:49:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4365: 0/1 successful episodes
+[05/26 02:49:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4403 (index 11/37)
+[05/26 02:49:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4403 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 02:49:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 02:49:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_1
+[05/26 02:49:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/c7df0f7671d34fb9817d37067072f9ab
+[05/26 02:49:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/576495fa2f9749adaca89aa604aa68b0
+[05/26 02:49:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4403_ceiling.xml
+[05/26 02:49:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4403, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:49:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:49:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 102 objects
+[05/26 02:49:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:49:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:49:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:49:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:49:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:49:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the beige envelope with red wax seal and place it in or on the shallow round bowl with feet'
+[05/26 02:49:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 4403 episode 0/1 collected=0/2
+[05/26 02:49:11 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:49:11 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_4 in scene
+[2026-05-26 02:51:01,105] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:52:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 03:02:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4403 episode 0 object objadecorativeenvelope_303b287819a84f7496bd92f5d69710c7_1_0_2 completed with success=False
+[05/26 03:02:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4403: 1 episodes
+[05/26 03:02:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:02:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:02:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4403
+[05/26 03:02:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4403 in 3.20s (batch: 3.09s, save: 0.11s)
+[05/26 03:02:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4403
+[05/26 03:02:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4403: 0/1 successful episodes
+[05/26 03:02:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4441 (index 12/37)
+[05/26 03:02:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4441 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 03:02:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/41 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 41/41 [00:00<00:00, 46364.64it/s]
+
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Checking grasps/droid_objaverse: 100%|██████████| 20/20 [00:00<00:00, 9270.20it/s]
+[05/26 03:02:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/55bd2652583048adb5f261974f28b134
+[05/26 03:02:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_2
+[05/26 03:02:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/561e6757555049fca93f56e479f7cbe4
+[05/26 03:02:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4441_ceiling.xml
+[05/26 03:02:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4441, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:02:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:02:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects
+[05/26 03:02:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:02:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:02:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:02:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:02:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:02:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular paper ticket with string and place it in or on the antique rustic metal bowl'
+[05/26 03:02:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 4441 episode 0/1 collected=0/2
+[05/26 03:02:34 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:04:50,860] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:12:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 4441 episode 0 object objaticket_c57b100f3adc47ef8c8432c090ac770f_1_0_9 completed with success=False
+[05/26 03:12:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4441: 1 episodes
+[05/26 03:12:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:12:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:12:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4441
+[05/26 03:12:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4441 in 3.20s (batch: 3.03s, save: 0.16s)
+[05/26 03:12:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4441
+[05/26 03:12:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4441: 0/1 successful episodes
+[05/26 03:12:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4505 (index 13/37)
+[05/26 03:12:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4505 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 03:12:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/27 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 27/27 [00:00<00:00, 51011.81it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/13 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 13/13 [00:00<00:00, 47045.69it/s]
+[05/26 03:12:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/1df7263c6e094645987c61c5d60e67d5
+[05/26 03:12:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_17
+[05/26 03:12:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/561e6757555049fca93f56e479f7cbe4
+[05/26 03:12:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4505_ceiling.xml
+[05/26 03:12:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4505, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:12:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:12:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects
+[05/26 03:12:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:12:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:12:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:12:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:12:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:12:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small yellow and black bird and place it in or on the round frosted glass bowl with interior'
+[05/26 03:12:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 4505 episode 0/2 collected=0/2
+[05/26 03:12:26 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:14:29,323] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:18:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 4505 episode 0 object objabird_5a91277584a645ac85029d4f7342b742_1_0_7 completed with success=False
+[05/26 03:18:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 03:18:55 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/1df7263c6e094645987c61c5d60e67d5
+[05/26 03:18:55 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_17
+[05/26 03:18:55 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/561e6757555049fca93f56e479f7cbe4
+[05/26 03:19:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4505_ceiling.xml
+[05/26 03:19:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4505, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:19:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:19:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects
+[05/26 03:19:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:19:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:19:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:19:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:19:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:19:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metallic sleek blade and place it in or on the ceramic bowl'
+[05/26 03:19:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 4505 episode 1/2 collected=1/2
+[05/26 03:19:00 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:21:03,659] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:21:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 03:23:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4505 episode 1 object objadecorativeblade_c38337ff48c9480788b04c3afa7464a9_1_0_4 completed with success=False
+[05/26 03:23:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4505: 2 episodes
+[05/26 03:23:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:23:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:24:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:24:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:24:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4505
+[05/26 03:24:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4505 in 6.30s (batch: 6.03s, save: 0.27s)
+[05/26 03:24:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4505
+[05/26 03:24:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4505: 0/2 successful episodes
+[05/26 03:24:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4511 (index 14/37)
+[05/26 03:24:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 03:24:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
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+[05/26 03:24:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/660bfdd0e9144271acdc116632297395
+[05/26 03:24:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/e12c29eb1cee488498343a20c503ed21
+[05/26 03:24:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Pot_4
+[05/26 03:24:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4511_ceiling.xml
+[05/26 03:24:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4511, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:24:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:24:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects
+[05/26 03:24:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:24:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:24:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:24:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:24:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:24:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue glossy sign with rounded letters and place it in or on the round dark stone bowl'
+[05/26 03:24:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 4511 episode 0/1 collected=0/2
+[05/26 03:24:15 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:24:15 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_ac8042fa5b204af3a12dd8c588c54ef3_1_0_5 in scene
+[05/26 03:24:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaconcretesample_51dcd7c7aa21436bbfda21d405868a11_1_0_5 in scene
+[2026-05-26 03:25:56,839] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:31:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4511 episode 0 object objadecorativetext_452e73c35de349d394a7592fdc0200e6_1_0_6 completed with success=False
+[05/26 03:31:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4511: 1 episodes
+[05/26 03:31:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:31:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:31:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4511
+[05/26 03:31:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4511 in 2.74s (batch: 2.59s, save: 0.16s)
+[05/26 03:31:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4511
+[05/26 03:31:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4511: 0/1 successful episodes
+[05/26 03:31:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4556 (index 15/37)
+[05/26 03:31:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4556 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 03:31:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+[05/26 03:31:32 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Pot_19
+[05/26 03:31:32 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/8c419f6d0cbc4580a2e2b9d273969b97
+[05/26 03:31:32 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/f8b3d867de194e6cb587c89d54ed8f0e
+[05/26 03:31:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4556_ceiling.xml
+[05/26 03:31:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4556, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:31:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:31:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects
+[05/26 03:31:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:31:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:31:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:31:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:31:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:31:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white remote control with yellow button and place it in or on the rustic round gray clay bowl'
+[05/26 03:31:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 4556 episode 0/1 collected=0/2
+[05/26 03:31:39 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:31:39 Worker 0 WARNING object_manager.py:1238] Could not find object box_cab37dabf893c5e8d3c18a3ad1a8b8eb_1_0_3 in scene
+[05/26 03:31:39 Worker 0 WARNING object_manager.py:1238] Could not find object objaphotoalbum_6d34266a9ed14aa69c8d0baccdb9081a_1_0_4 in scene
+[05/26 03:31:39 Worker 0 WARNING object_manager.py:1238] Could not find object objamask_0741405f9d9942e292dc1d0eb20fa815_1_0_5 in scene
+[05/26 03:31:39 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene
+[2026-05-26 03:33:56,242] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:35:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 03:42:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 4556 episode 0 object objaremotecontrol_f14da6318f904052920e78b9bb1a19ef_1_0_3 completed with success=False
+[05/26 03:43:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4556: 1 episodes
+[05/26 03:43:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:43:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:43:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4556
+[05/26 03:43:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4556 in 3.80s (batch: 3.61s, save: 0.19s)
+[05/26 03:43:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4556
+[05/26 03:43:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4556: 0/1 successful episodes
+[05/26 03:43:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4634 (index 16/37)
+[05/26 03:43:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4634 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 03:43:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 03:43:08 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/d792e36c80784b53b987c84e304481a9
+[05/26 03:43:08 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/b60e63f150034acbabd32dc9ef8563de
+[05/26 03:43:08 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/0500b0d9ef6f40dd96591d7b354c9ede
+[05/26 03:43:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4634_ceiling.xml
+[05/26 03:43:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4634, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:43:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:43:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects
+[05/26 03:43:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:43:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:43:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:43:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:43:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:43:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white toilet roll and place it in or on the place receptacl 0'
+[05/26 03:43:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 4634 episode 0/1 collected=0/2
+[05/26 03:43:13 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:43:14 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_2_0_7 in scene
+[2026-05-26 03:44:27,526] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:48:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4634 episode 0 object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 completed with success=False
+[05/26 03:48:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4634: 1 episodes
+[05/26 03:48:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:48:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:48:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4634
+[05/26 03:48:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4634 in 3.93s (batch: 3.76s, save: 0.17s)
+[05/26 03:48:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4634
+[05/26 03:48:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4634: 0/1 successful episodes
+[05/26 03:48:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4686 (index 17/37)
+[05/26 03:48:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4686 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 03:48:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/14 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 14/14 [00:00<00:00, 41586.58it/s]
+
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+[05/26 03:48:49 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/8c419f6d0cbc4580a2e2b9d273969b97
+[05/26 03:48:49 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/ede795f1c6f74a99b6952183f340fcb8
+[05/26 03:48:49 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/1e4b75a1bb484c42b99fcd3ddf23ae9f
+[05/26 03:48:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4686_ceiling.xml
+[05/26 03:48:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4686, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:48:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:48:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects
+[05/26 03:48:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:48:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:48:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:48:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:48:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:48:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the vintage wooden razor with blade and place it in or on the round wooden bowl with grain'
+[05/26 03:48:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 4686 episode 0/1 collected=0/2
+[05/26 03:48:53 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:48:53 Worker 0 WARNING object_manager.py:1238] Could not find object objamechanicalcomponent_1bdce5bc26ad44c28d89284da6c3a8cf_1_0_2 in scene
+[05/26 03:48:53 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_92169e2640439bd67fb105701482b508_1_0_2 in scene
+[2026-05-26 03:51:19,655] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:52:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 03:55:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4686 episode 0 object objastraightrazor_a595190ce57a41cda01ff84d5c9eeb06_1_0_2 completed with success=False
+[05/26 03:56:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4686: 1 episodes
+[05/26 03:56:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:56:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:56:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4686
+[05/26 03:56:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4686 in 3.69s (batch: 3.27s, save: 0.42s)
+[05/26 03:56:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4686
+[05/26 03:56:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4686: 0/1 successful episodes
+[05/26 03:56:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4723 (index 18/37)
+[05/26 03:56:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4723 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 03:56:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 03:56:15 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/9e167f4b5fcd446e8ff3c4ca5b257286
+[05/26 03:56:15 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/977c0bb0114e4728b7c6ccb89da913ec
+[05/26 03:56:15 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Pot_4
+[05/26 03:56:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4723_ceiling.xml
+[05/26 03:56:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4723, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:56:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:56:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects
+[05/26 03:56:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:56:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:56:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:56:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:56:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:56:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the terracotta owl vessel with spout and place it in or on the golden bowl'
+[05/26 03:56:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 4723 episode 0/1 collected=0/2
+[05/26 03:56:19 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:58:04,809] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:02:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4723 episode 0 object objavessel_8bd6e267f265481682e17f696b201103_1_0_8 completed with success=False
+[05/26 04:02:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4723: 1 episodes
+[05/26 04:02:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:02:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:02:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4723
+[05/26 04:02:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4723 in 4.51s (batch: 4.24s, save: 0.27s)
+[05/26 04:02:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4723
+[05/26 04:02:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4723: 0/1 successful episodes
+[05/26 04:02:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4750 (index 19/37)
+[05/26 04:02:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4750 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 04:02:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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Checking grasps/droid_objaverse: 100%|██████████| 8/8 [00:00<00:00, 36954.22it/s]
+[05/26 04:02:42 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/72f752cce53e4942be8e27429ceaf83a
+[05/26 04:02:42 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/936714802d2849bea3efb1eb5c83cee6
+[05/26 04:02:42 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/7b3bfdab414148a08cbf46fc105e280a
+[05/26 04:02:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4750_ceiling.xml
+[05/26 04:02:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4750, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:02:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:02:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects
+[05/26 04:02:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:02:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:02:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:02:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:02:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:02:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the compact black and white midi keyboard and place it in or on the ceramic rustic bowl'
+[05/26 04:02:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 4750 episode 0/1 collected=0/2
+[05/26 04:02:46 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:05:10,194] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:05:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 04:08:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4750 episode 0 object objamidikeyboard_d5391486d5aa4d6aa54777beecd49534_1_0_3 completed with success=False
+[05/26 04:08:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4750: 1 episodes
+[05/26 04:08:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:08:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:08:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4750
+[05/26 04:08:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4750 in 2.63s (batch: 2.45s, save: 0.18s)
+[05/26 04:08:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4750
+[05/26 04:08:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4750: 0/1 successful episodes
+[05/26 04:08:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4796 (index 20/37)
+[05/26 04:08:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4796 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 04:08:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
Checking grasps/droid_objaverse:   0%|          | 0/14 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 14/14 [00:00<00:00, 62735.32it/s]
+[05/26 04:08:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/08dd440442874c8e8ae35494b4aff0a2
+[05/26 04:08:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/a37c32fbdbbb4ab19c8b1cccc557f52d
+[05/26 04:08:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/53c885e05492439cace4cc626fec00cc
+QH7089 qhull precision warning: The initial hull is narrow.  Is the input lower
+dimensional (e.g., a square in 3-d instead of a cube)?  Cosine of the minimum
+angle is 1.0000000000000002.  If so, Qhull may produce a wide facet.
+Options 'Qs' (search all points), 'Qbb' (scale last coordinate), or
+'QbB' (scale to unit box) may remove this warning.
+See 'Limitations' in qh-impre.htm.  Use 'Pp' to skip this warning.
+[05/26 04:08:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4796_ceiling.xml
+[05/26 04:08:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4796, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:08:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:08:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 65 objects
+[05/26 04:08:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:08:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:08:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:08:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:08:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:08:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue and white carton and place it in or on the metallic tray'
+[05/26 04:08:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 4796 episode 0/1 collected=0/2
+[05/26 04:08:31 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:10:46,996] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:16:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4796 episode 0 object objabeveragecarton_55d0a4c01b9e4a2cab8112162ea61cfb_1_0_9 completed with success=False
+[05/26 04:16:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4796: 1 episodes
+[05/26 04:16:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:16:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:16:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4796
+[05/26 04:16:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4796 in 4.11s (batch: 3.86s, save: 0.24s)
+[05/26 04:16:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4796
+[05/26 04:16:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4796: 0/1 successful episodes
+[05/26 04:16:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4836 (index 21/37)
+[05/26 04:16:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4836 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 04:16:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/50 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 50/50 [00:00<00:00, 65454.18it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/19 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 19/19 [00:00<00:00, 50662.29it/s]
+[05/26 04:16:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_21
+[05/26 04:16:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/2911e8c87d49402c9e3c18277c8b2b2a
+[05/26 04:16:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_23
+[05/26 04:16:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4836_ceiling.xml
+[05/26 04:16:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4836, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:16:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:16:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects
+[05/26 04:16:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:16:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:16:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:16:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:16:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:16:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red u-shaped magnet and place it in or on the rectangular box with patterned lid'
+[05/26 04:16:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 4836 episode 0/1 collected=0/2
+[05/26 04:16:46 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:16:46 Worker 0 WARNING object_manager.py:1238] Could not find object objahinge_4587c40e36704e7a96ffebad95028160_1_0_8 in scene
+[05/26 04:16:46 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_b4fe73bc978b2372694676fd9d6ef462_2_0_8 in scene
+[2026-05-26 04:18:54,558] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:20:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 04:24:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4836 episode 0 object objamagnet_d2d922add236472ea43a39de0d739755_1_0_9 completed with success=False
+[05/26 04:24:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4836: 1 episodes
+[05/26 04:24:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:24:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:24:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4836
+[05/26 04:24:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4836 in 3.11s (batch: 3.01s, save: 0.10s)
+[05/26 04:24:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4836
+[05/26 04:24:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4836: 0/1 successful episodes
+[05/26 04:24:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4900 (index 22/37)
+[05/26 04:24:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4900 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 04:24:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/31 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 31/31 [00:00<00:00, 38755.12it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/15 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 15/15 [00:00<00:00, 2755.18it/s]
+[05/26 04:24:14 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/a5b29a29005041dca3d8bfbc8c57c7e2
+[05/26 04:24:14 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/72f752cce53e4942be8e27429ceaf83a
+[05/26 04:24:14 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/93ef7da87b1e43fbb47f3b26b927f777
+[05/26 04:24:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4900_ceiling.xml
+[05/26 04:24:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4900, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:24:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:24:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects
+[05/26 04:24:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:24:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:24:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:24:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:24:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:24:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished smooth golden circular ring and place it in or on the rustic terracotta bowl'
+[05/26 04:24:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 4900 episode 0/1 collected=0/2
+[05/26 04:24:19 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:25:53,703] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:33:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4900 episode 0 object objaring_c20681970f3f4e449aeec50291be17b1_1_0_2 completed with success=False
+[05/26 04:33:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4900: 1 episodes
+[05/26 04:33:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:33:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:33:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4900
+[05/26 04:33:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4900 in 2.80s (batch: 2.71s, save: 0.10s)
+[05/26 04:33:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4900
+[05/26 04:33:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4900: 0/1 successful episodes
+[05/26 04:33:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4954 (index 23/37)
+[05/26 04:33:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4954 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 04:33:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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Checking objects/objaverse: 100%|██████████| 57/57 [00:00<00:00, 81235.25it/s]
+
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Checking grasps/droid_objaverse: 100%|██████████| 25/25 [00:00<00:00, 81222.00it/s]
+[05/26 04:33:48 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/f9561598da77463f9eb6fecd4bc301b5
+[05/26 04:33:48 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/fe6a6e9cf17545179f8c6b81e5499b46
+[05/26 04:33:48 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/372c4540cbe148b9bddcbbf1761b5e81
+[05/26 04:33:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4954_ceiling.xml
+[05/26 04:33:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4954, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:33:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:33:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 88 objects
+[05/26 04:33:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:33:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:33:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:33:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:33:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:33:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the robust metal door lock mechanism and place it in or on the rustic brown coconut bowl'
+[05/26 04:33:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 4954 episode 0/2 collected=0/2
+[05/26 04:33:53 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:33:54 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_2 in scene
+[2026-05-26 04:35:22,018] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:38:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4954 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_3 completed with success=False
+[05/26 04:38:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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Checking objects/objaverse: 100%|██████████| 57/57 [00:00<00:00, 63566.96it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/25 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 25/25 [00:00<00:00, 60159.27it/s]
+[05/26 04:38:16 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/f9561598da77463f9eb6fecd4bc301b5
+[05/26 04:38:16 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/fe6a6e9cf17545179f8c6b81e5499b46
+[05/26 04:38:16 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/372c4540cbe148b9bddcbbf1761b5e81
+[05/26 04:38:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4954_ceiling.xml
+[05/26 04:38:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4954, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:38:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:38:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 88 objects
+[05/26 04:38:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:38:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:38:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:38:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:38:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:38:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the thin white electronic display showing promotion and place it in or on the rustic brown coconut bowl'
+[05/26 04:38:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 4954 episode 1/2 collected=1/2
+[05/26 04:38:21 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:38:21 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_2 in scene
+[2026-05-26 04:39:25,593] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:39:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 04:42:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 4954 episode 1 object objaelectronicdisplay_39fdfa7c14a640b58a5ff5e47a1af37c_1_0_7 completed with success=False
+[05/26 04:42:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4954: 2 episodes
+[05/26 04:42:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:42:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:43:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:43:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:43:00 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4954
+[05/26 04:43:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4954 in 7.76s (batch: 7.30s, save: 0.46s)
+[05/26 04:43:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4954
+[05/26 04:43:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4954: 0/2 successful episodes
+[05/26 04:43:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4965 (index 24/37)
+[05/26 04:43:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4965 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 04:43:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/13 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 13/13 [00:00<00:00, 46247.63it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/6 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 6/6 [00:00<00:00, 28532.68it/s]
+[05/26 04:43:01 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/d318587cfc624b18b52a3a7fb7124373
+[05/26 04:43:01 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/94f253a91bc14f21be83592faf5891ff
+[05/26 04:43:01 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/7bcc0425058142c59255979a2b61f0d2
+[05/26 04:43:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4965_ceiling.xml
+[05/26 04:43:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4965, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:43:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:43:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects
+[05/26 04:43:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:43:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:43:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:43:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:43:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:43:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tall dark cup and place it in or on the hand-painted insect bowl'
+[05/26 04:43:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 4965 episode 0/1 collected=0/2
+[05/26 04:43:03 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:45:04,003] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:45:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 04:48:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4965 episode 0 object cup_56edd85aeab4ab58cc2b44e71d5e86bf_1_0_2 completed with success=False
+[05/26 04:48:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4965: 1 episodes
+[05/26 04:48:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:48:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:48:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4965
+[05/26 04:48:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4965 in 3.13s (batch: 2.97s, save: 0.16s)
+[05/26 04:48:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4965
+[05/26 04:48:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4965: 0/1 successful episodes
+[05/26 04:48:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5009 (index 25/37)
+[05/26 04:48:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5009 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 04:48:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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Checking objects/objaverse: 100%|██████████| 12/12 [00:00<00:00, 40201.00it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/7 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 7/7 [00:00<00:00, 25913.62it/s]
+[05/26 04:48:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/521e5cb1802643d0bb7366e1f85c18a9
+[05/26 04:48:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/1bac786df9e446a795e442a83f49056a
+[05/26 04:48:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/a37c32fbdbbb4ab19c8b1cccc557f52d
+QH7089 qhull precision warning: The initial hull is narrow.  Is the input lower
+dimensional (e.g., a square in 3-d instead of a cube)?  Cosine of the minimum
+angle is 1.0000000000000002.  If so, Qhull may produce a wide facet.
+Options 'Qs' (search all points), 'Qbb' (scale last coordinate), or
+'QbB' (scale to unit box) may remove this warning.
+See 'Limitations' in qh-impre.htm.  Use 'Pp' to skip this warning.
+[05/26 04:48:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5009_ceiling.xml
+[05/26 04:48:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5009, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:48:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:48:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects
+[05/26 04:48:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:48:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:48:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:48:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:48:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:48:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth white ceramic serving bowl and place it in or on the wooden box'
+[05/26 04:48:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 5009 episode 0/1 collected=0/2
+[05/26 04:48:19 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:48:19 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeheadpiece_f467a02f004e4135aaa59de93fe2d23c_1_0_3 in scene
+[05/26 04:48:19 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_3 in scene
+[2026-05-26 04:50:03,938] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:54:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 5009 episode 0 object bowl_78149002af9123140d89c62daea42a75_1_0_2 completed with success=False
+[05/26 04:54:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5009: 1 episodes
+[05/26 04:54:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:54:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:54:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5009
+[05/26 04:54:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5009 in 3.15s (batch: 3.06s, save: 0.09s)
+[05/26 04:54:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5009
+[05/26 04:54:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5009: 0/1 successful episodes
+[05/26 04:54:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5075 (index 26/37)
+[05/26 04:54:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5075 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 04:54:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/49 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 49/49 [00:00<00:00, 42745.61it/s]
+
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Extracting:  20%|██        | 1/5 [00:01<00:04,  1.11s/it]
Extracting:  40%|████      | 2/5 [00:02<00:03,  1.27s/it]
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Extracting: 100%|██████████| 5/5 [00:06<00:00,  1.24s/it]
Extracting: 100%|██████████| 5/5 [00:06<00:00,  1.26s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/23 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 23/23 [00:00<00:00, 16479.16it/s]
+[05/26 04:54:53 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/b4e33154ce3a40e4bd2b34f8de4f548c
+[05/26 04:54:53 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/5fa7101ca3744068ae84b30dbf0a9240
+[05/26 04:54:53 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/d318587cfc624b18b52a3a7fb7124373
+[05/26 04:54:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5075_ceiling.xml
+[05/26 04:54:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5075, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:54:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:54:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 78 objects
+[05/26 04:54:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:54:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:54:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:54:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:54:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:54:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the angled lever with stone base and place it in or on the brown bowl'
+[05/26 04:54:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 5075 episode 0/1 collected=0/2
+[05/26 04:54:58 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:54:58 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_7 in scene
+[2026-05-26 04:56:17,260] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:56:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 05:44:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 5075 episode 0 object objalever_5d821ac7148240c092c4face44c1d096_1_0_6 completed with success=False
+[05/26 05:44:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5075: 1 episodes
+[05/26 05:44:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:44:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:44:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5075
+[05/26 05:44:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5075 in 3.00s (batch: 2.82s, save: 0.18s)
+[05/26 05:44:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5075
+[05/26 05:44:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5075: 0/1 successful episodes
+[05/26 05:44:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5153 (index 27/37)
+[05/26 05:44:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5153 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 05:44:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+[05/26 05:44:52 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/42f50ecee3da4df498c0e1b4319366a4
+[05/26 05:44:52 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/423c9b6a27254a00aa283647a7e9b1ba
+[05/26 05:44:52 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Pot_7
+[05/26 05:44:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5153_ceiling.xml
+[05/26 05:44:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5153, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:44:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:44:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects
+[05/26 05:44:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:44:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:44:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:44:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:44:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:44:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light stone floral molding and place it in or on the shallow round wooden bowl'
+[05/26 05:44:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 5153 episode 0/1 collected=0/2
+[05/26 05:44:57 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:47:14,016] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:48:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 05:51:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 5153 episode 0 object objadecorativemolding_4702dc29dd224b26a66e95b408e5ce85_1_0_7 completed with success=False
+[05/26 05:52:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5153: 1 episodes
+[05/26 05:52:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:52:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:52:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5153
+[05/26 05:52:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5153 in 3.05s (batch: 2.92s, save: 0.13s)
+[05/26 05:52:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5153
+[05/26 05:52:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5153: 0/1 successful episodes
+[05/26 05:52:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5178 (index 28/37)
+[05/26 05:52:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5178 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 05:52:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
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+[05/26 05:52:13 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/e2a8c3df68a94aea94050e01ad9aa918
+[05/26 05:52:13 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/a2e1b30c4fbb491e9aeff5cccdfc00ec
+[05/26 05:52:13 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/977c0bb0114e4728b7c6ccb89da913ec
+[05/26 05:52:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5178_ceiling.xml
+[05/26 05:52:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5178, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:52:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:52:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects
+[05/26 05:52:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:52:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:52:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:52:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:52:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:52:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cream beetle with black horns and place it in or on the rectangular platform with recessed center'
+[05/26 05:52:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 5178 episode 0/2 collected=0/2
+[05/26 05:52:19 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:54:22,817] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:55:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 05:58:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5178 episode 0 object objabeetle_a6f2a6fe7a3c4d19831f1bd79d664dcc_1_0_8 completed with success=False
+[05/26 05:59:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 05:59:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/e2a8c3df68a94aea94050e01ad9aa918
+[05/26 05:59:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/a2e1b30c4fbb491e9aeff5cccdfc00ec
+[05/26 05:59:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/977c0bb0114e4728b7c6ccb89da913ec
+[05/26 05:59:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5178_ceiling.xml
+[05/26 05:59:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5178, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:59:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:59:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects
+[05/26 05:59:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:59:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:59:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:59:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:59:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:59:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the colorful mosaic tile in stone and place it in or on the white ceramic mug with handle'
+[05/26 05:59:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 5178 episode 1/2 collected=1/2
+[05/26 05:59:10 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:00:57,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:01:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 06:03:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 5178 episode 1 object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 completed with success=False
+[05/26 06:04:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5178: 2 episodes
+[05/26 06:04:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:04:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:04:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:04:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:04:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5178
+[05/26 06:04:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5178 in 6.23s (batch: 5.91s, save: 0.32s)
+[05/26 06:04:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5178
+[05/26 06:04:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5178: 0/2 successful episodes
+[05/26 06:04:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5189 (index 29/37)
+[05/26 06:04:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5189 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 06:04:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 06:04:11 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Pot_14
+[05/26 06:04:11 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/c44ac768e7304df58ebf13ba4c6eed11
+[05/26 06:04:11 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_13
+[05/26 06:04:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5189_ceiling.xml
+[05/26 06:04:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5189, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:04:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:04:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects
+[05/26 06:04:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:04:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:04:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:04:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:04:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:04:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy black sign with pink and place it in or on the rough gray bowl'
+[05/26 06:04:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 5189 episode 0/1 collected=0/2
+[05/26 06:04:15 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:06:24,783] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:07:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 06:14:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 5189 episode 0 object objasignage_2bf2a240a54742d194cd7e33e7c4c747_1_0_2 completed with success=False
+[05/26 06:14:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5189: 1 episodes
+[05/26 06:14:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:15:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:15:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5189
+[05/26 06:15:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5189 in 3.34s (batch: 3.15s, save: 0.19s)
+[05/26 06:15:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5189
+[05/26 06:15:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5189: 0/1 successful episodes
+[05/26 06:15:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5262 (index 30/37)
+[05/26 06:15:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5262 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 06:15:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+[05/26 06:15:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/bdd36c94f3f74f22b02b8a069c8d97b7
+[05/26 06:15:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/7754545bd7044b298506bb35b05578d5
+[05/26 06:15:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Pot_12
+[05/26 06:15:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5262_ceiling.xml
+[05/26 06:15:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5262, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:15:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:15:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects
+[05/26 06:15:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:15:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:15:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:15:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:15:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:15:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray ring with colorful spheres and place it in or on the white bowl with liquid soup'
+[05/26 06:15:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 5262 episode 0/1 collected=0/2
+[05/26 06:15:22 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 06:15:23 Worker 0 WARNING object_manager.py:1238] Could not find object objacoil_c4fcd63753e740aa9efac5edfe7a7506_1_0_7 in scene
+[05/26 06:15:23 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_7 in scene
+[2026-05-26 06:16:51,521] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:18:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 06:23:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 5262 episode 0 object objadecorativering_73d4f9433c2649d0bb702f46c01c3d9a_1_0_6 completed with success=False
+[05/26 06:23:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5262: 1 episodes
+[05/26 06:23:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:23:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:23:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5262
+[05/26 06:23:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5262 in 3.25s (batch: 3.11s, save: 0.14s)
+[05/26 06:23:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5262
+[05/26 06:23:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5262: 0/1 successful episodes
+[05/26 06:23:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5323 (index 31/37)
+[05/26 06:23:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5323 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 06:23:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 06:23:50 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/2b66d433fad7419d994eb2b098293577
+[05/26 06:23:50 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/f9561598da77463f9eb6fecd4bc301b5
+[05/26 06:23:50 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/e776cc1b82d54420a55e924510c027c5
+[05/26 06:23:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5323_ceiling.xml
+[05/26 06:23:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5323, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:23:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:23:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects
+[05/26 06:23:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:23:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:23:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:23:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:23:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:23:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark gray cylindrical suppressor and place it in or on the glossy marbled gray bowl'
+[05/26 06:23:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 5323 episode 0/1 collected=0/2
+[05/26 06:23:56 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:25:29,804] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:25:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 06:29:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 5323 episode 0 object objasuppressor_03d3fab9cfb94bdfa9fcf0eff0eb1b75_1_0_8 completed with success=False
+[05/26 06:29:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5323: 1 episodes
+[05/26 06:29:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:29:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:29:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5323
+[05/26 06:29:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5323 in 3.17s (batch: 3.03s, save: 0.14s)
+[05/26 06:29:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5323
+[05/26 06:29:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5323: 0/1 successful episodes
+[05/26 06:29:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5408 (index 32/37)
+[05/26 06:29:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5408 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 06:29:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+[05/26 06:29:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/f8b3d867de194e6cb587c89d54ed8f0e
+[05/26 06:29:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/af624cab76c04bec86f0c928207797d8
+[05/26 06:29:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/9e167f4b5fcd446e8ff3c4ca5b257286
+[05/26 06:29:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5408_ceiling.xml
+[05/26 06:29:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5408, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:29:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:29:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects
+[05/26 06:29:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:29:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:29:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:29:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:29:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:29:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gold metallic cursive script nameplate and place it in or on the rustic green ceramic bowl'
+[05/26 06:29:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 5408 episode 0/1 collected=0/2
+[05/26 06:29:30 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 06:29:31 Worker 0 WARNING object_manager.py:1238] Could not find object objastonedish_7bf14a57ee5345689c3efd4bd1616466_1_0_6 in scene
+[05/26 06:29:31 Worker 0 WARNING object_manager.py:1238] Could not find object objanameplate_bc384e6f26f84b04997161e3acde4bc3_1_0_6 in scene
+[2026-05-26 06:31:22,290] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:34:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5408 episode 0 object objadecorativesign_748089ad5eb441ccb3e9f8561567b021_1_0_6 completed with success=False
+[05/26 06:34:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5408: 1 episodes
+[05/26 06:34:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:34:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:34:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5408
+[05/26 06:34:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5408 in 2.78s (batch: 2.64s, save: 0.13s)
+[05/26 06:34:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5408
+[05/26 06:34:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5408: 0/1 successful episodes
+[05/26 06:34:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5442 (index 33/37)
+[05/26 06:34:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5442 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 06:34:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 06:34:52 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_20
+[05/26 06:34:52 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/44f5be7685c1439c85cf9bc36e78578a
+[05/26 06:34:52 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/591a76b35b094562b9dec8ffa5b77387
+[05/26 06:34:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5442_ceiling.xml
+[05/26 06:34:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5442, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:34:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:34:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 93 objects
+[05/26 06:34:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:34:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:34:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:34:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:34:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:34:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white paper roll and place it in or on the rustic gray bowl'
+[05/26 06:34:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 5442 episode 0/1 collected=0/2
+[05/26 06:34:58 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 06:34:59 Worker 0 WARNING object_manager.py:1238] Could not find object vase_6cb319ff57e79d3745bd6ac29c8adb3d_1_0_8 in scene
+[2026-05-26 06:36:29,672] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:43:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5442 episode 0 object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_9 completed with success=False
+[05/26 06:43:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5442: 1 episodes
+[05/26 06:43:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:43:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:43:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5442
+[05/26 06:43:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5442 in 2.92s (batch: 2.83s, save: 0.09s)
+[05/26 06:43:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5442
+[05/26 06:43:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5442: 0/1 successful episodes
+[05/26 06:43:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5482 (index 34/37)
+[05/26 06:43:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5482 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 06:43:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 06:43:36 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/fe6a6e9cf17545179f8c6b81e5499b46
+[05/26 06:43:36 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/0cb14e8a04de4c39ac8714a98fba9883
+[05/26 06:43:36 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/c2bd80794a3947238fe610f5733be9d2
+[05/26 06:43:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5482_ceiling.xml
+[05/26 06:43:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5482, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:43:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:43:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects
+[05/26 06:43:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:43:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:43:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:43:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:43:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:43:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the beige flint spearhead and place it in or on the round gray bowl'
+[05/26 06:43:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 5482 episode 0/1 collected=0/2
+[05/26 06:43:40 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:45:00,408] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:45:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 06:47:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 5482 episode 0 object objastonetool_f5a48834fc66497ebc416ef94ec2eeeb_1_0_2 completed with success=False
+[05/26 06:47:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5482: 1 episodes
+[05/26 06:47:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:47:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:47:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5482
+[05/26 06:47:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5482 in 2.15s (batch: 2.06s, save: 0.09s)
+[05/26 06:47:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5482
+[05/26 06:47:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5482: 0/1 successful episodes
+[05/26 06:47:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5511 (index 35/37)
+[05/26 06:47:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 06:47:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
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+
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+[05/26 06:47:54 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Pot_24
+[05/26 06:47:54 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/937044a40c3845bf88639056005b8a75
+[05/26 06:47:54 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_29
+[05/26 06:47:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5511_ceiling.xml
+[05/26 06:47:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5511, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:47:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:47:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects
+[05/26 06:47:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:47:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:47:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:47:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:47:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:47:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the vintage metal sharpener and place it in or on the crockery'
+[05/26 06:47:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 5511 episode 0/1 collected=0/2
+[05/26 06:47:58 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:48:55,887] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:53:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 5511 episode 0 object objapencilsharpener_90238a6e97484f7ca846101ed7f43eac_1_0_9 completed with success=False
+[05/26 06:53:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5511: 1 episodes
+[05/26 06:53:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:53:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:53:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5511
+[05/26 06:53:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5511 in 2.19s (batch: 2.10s, save: 0.09s)
+[05/26 06:53:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5511
+[05/26 06:53:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5511: 0/1 successful episodes
+[05/26 06:53:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5555 (index 36/37)
+[05/26 06:53:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5555 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05
+[05/26 06:53:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+
Checking objects/objaverse:   0%|          | 0/12 [00:00<?, ?it/s]
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+
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Checking grasps/droid_objaverse: 100%|██████████| 8/8 [00:00<00:00, 6951.41it/s]
+[05/26 06:53:18 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/bfae6fa9a7f64b9eb16f57c05553c612
+[05/26 06:53:18 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/fe6a6e9cf17545179f8c6b81e5499b46
+[05/26 06:53:18 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_8
+[05/26 06:53:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5555_ceiling.xml
+[05/26 06:53:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5555, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:53:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:53:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects
+[05/26 06:53:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:53:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:53:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:53:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:53:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:53:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pink flower with yellow center and leaves and place it in or on the smooth silver bowl'
+[05/26 06:53:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 5555 episode 0/1 collected=0/2
+[05/26 06:53:19 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 06:53:19 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyhouse_6404a5eb445d48e1a96d98e013904cf9_1_0_3 in scene
+[05/26 06:53:19 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_3 in scene
+[2026-05-26 06:54:18,517] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:54:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state.
+[05/26 06:57:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 5555 episode 0 object objadecorativeflower_99e08ec1b42241c080912996eebbffe6_1_0_2 completed with success=False
+[05/26 06:57:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5555: 1 episodes
+[05/26 06:57:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:57:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:57:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5555
+[05/26 06:57:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5555 in 2.50s (batch: 2.37s, save: 0.13s)
+[05/26 06:57:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5555
+[05/26 06:57:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5555: 0/1 successful episodes
+[05/26 06:57:32 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses
+[05/26 06:57:32 INFO pipeline.py:1496] Completed 37 houses, skipped 0 houses
+[05/26 06:57:32 INFO pipeline.py:1499] Success count: 0, Total count: 41
+[05/26 06:57:32 INFO pipeline.py:1500] Success rate: 0.00%
+Combined 41 episodes from 37 files → /tmp/tmpgn34_c2g.h5
+
+Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/results.csv at-end: 0.0% | oracle: 0.0% of 41 episodes
+[2026-05-26 06:57:38,653] INFO MolmoSpaces simulator eval finished: success=0/41 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval
+[2026-05-26 06:57:38,653] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/results.csv
diff --git a/pnp_v2/pnp_v2/shards/shard_05/submission/eval_meta.json b/pnp_v2/pnp_v2/shards/shard_05/submission/eval_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4b0a81b85a3784eb096f4feaf2500bb5627d7af
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_05/submission/eval_meta.json
@@ -0,0 +1,9 @@
+{
+  "step": null,
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05",
+  "policy_name": "latest",
+  "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441",
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/results.csv"
+}
diff --git a/pnp_v2/pnp_v2/shards/shard_05/submission/results.csv b/pnp_v2/pnp_v2/shards/shard_05/submission/results.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f5858228fb9d0358ed24c822ca4cddf7d30fae56
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_05/submission/results.csv
@@ -0,0 +1,46 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441
+# dt: 0.066
+# max_steps: 450
+policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std
+latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.476358,0.0
+latest,Cup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.463959,0.0
+latest,Knife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.650204,0.0
+latest,Objabeetle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,151.637038,0.0
+latest,Objabeveragecarton,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.324783,0.0
+latest,Objabird,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.380024,0.0
+latest,Objacalculatorradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.756867,0.0
+latest,Objadecorativeblade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.643231,0.0
+latest,Objadecorativeenvelope,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.250686,0.0
+latest,Objadecorativeflower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,124.399361,0.0
+latest,Objadecorativemolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.066419,0.0
+latest,Objadecorativering,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.67109,0.0
+latest,Objadecorativesign,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.654184,0.0
+latest,Objadecorativetext,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.466492,0.0
+latest,Objadigitalcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.790764,0.0
+latest,Objadoorlock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.868179,0.0
+latest,Objadslrcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.99138,0.0
+latest,Objaelectronicdisplay,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.166066,0.0
+latest,Objagoblet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,138.646122,0.0
+latest,Objahandaxe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.219642,0.0
+latest,Objalever,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,71.478458,0.0
+latest,Objamagnet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.370801,0.0
+latest,Objamidikeyboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.282336,0.0
+latest,Objamosaicfragment,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.719483,0.0
+latest,Objamoviecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,85.735465,0.0
+latest,Objanightvisiongoggles,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.42998,0.0
+latest,Objapackaging,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.515094,0.0
+latest,Objapencilsharpener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.108293,0.0
+latest,Objaremotecontrol,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.235253,0.0
+latest,Objaring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.226251,0.0
+latest,Objasecuritykeypad,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.461717,0.0
+latest,Objasignage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,112.065846,0.0
+latest,Objasneaker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.632497,0.0
+latest,Objastonetool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.927069,0.0
+latest,Objastraightrazor,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.47114,0.0
+latest,Objasuppressor,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.180842,0.0
+latest,Objaticket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.613347,0.0
+latest,Objatoiletpaper,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,69.602167,33.031202
+latest,Objatoyjet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.12976,0.0
+latest,Objavessel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.119914,0.0
+latest,OVERALL,0,41,0.0,0.06,8.41,0,0.0,0.06,8.41,47.839774,35.057394
diff --git a/pnp_v2/pnp_v2/shards/shard_05/submission/run_command.sh b/pnp_v2/pnp_v2/shards/shard_05/submission/run_command.sh
new file mode 100644
index 0000000000000000000000000000000000000000..8e6f37a2fb2d13f4b462fc88924db4399041240c
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_05/submission/run_command.sh
@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy
+conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament 
diff --git a/pnp_v2/pnp_v2/shards/shard_05/submission/shard_05_results.csv b/pnp_v2/pnp_v2/shards/shard_05/submission/shard_05_results.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f5858228fb9d0358ed24c822ca4cddf7d30fae56
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_05/submission/shard_05_results.csv
@@ -0,0 +1,46 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441
+# dt: 0.066
+# max_steps: 450
+policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std
+latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.476358,0.0
+latest,Cup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.463959,0.0
+latest,Knife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.650204,0.0
+latest,Objabeetle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,151.637038,0.0
+latest,Objabeveragecarton,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.324783,0.0
+latest,Objabird,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.380024,0.0
+latest,Objacalculatorradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.756867,0.0
+latest,Objadecorativeblade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.643231,0.0
+latest,Objadecorativeenvelope,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.250686,0.0
+latest,Objadecorativeflower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,124.399361,0.0
+latest,Objadecorativemolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.066419,0.0
+latest,Objadecorativering,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.67109,0.0
+latest,Objadecorativesign,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.654184,0.0
+latest,Objadecorativetext,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.466492,0.0
+latest,Objadigitalcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.790764,0.0
+latest,Objadoorlock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.868179,0.0
+latest,Objadslrcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.99138,0.0
+latest,Objaelectronicdisplay,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.166066,0.0
+latest,Objagoblet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,138.646122,0.0
+latest,Objahandaxe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.219642,0.0
+latest,Objalever,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,71.478458,0.0
+latest,Objamagnet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.370801,0.0
+latest,Objamidikeyboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.282336,0.0
+latest,Objamosaicfragment,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.719483,0.0
+latest,Objamoviecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,85.735465,0.0
+latest,Objanightvisiongoggles,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.42998,0.0
+latest,Objapackaging,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.515094,0.0
+latest,Objapencilsharpener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.108293,0.0
+latest,Objaremotecontrol,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.235253,0.0
+latest,Objaring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.226251,0.0
+latest,Objasecuritykeypad,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.461717,0.0
+latest,Objasignage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,112.065846,0.0
+latest,Objasneaker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.632497,0.0
+latest,Objastonetool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.927069,0.0
+latest,Objastraightrazor,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.47114,0.0
+latest,Objasuppressor,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.180842,0.0
+latest,Objaticket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.613347,0.0
+latest,Objatoiletpaper,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,69.602167,33.031202
+latest,Objatoyjet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.12976,0.0
+latest,Objavessel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.119914,0.0
+latest,OVERALL,0,41,0.0,0.06,8.41,0,0.0,0.06,8.41,47.839774,35.057394
diff --git a/pnp_v2/pnp_v2/shards/shard_05/submission/submission_manifest.json b/pnp_v2/pnp_v2/shards/shard_05/submission/submission_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..638965e785028791356c4b3b455d65c60a45adbc
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_05/submission/submission_manifest.json
@@ -0,0 +1,82 @@
+{
+  "policy_name": "latest",
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05",
+  "results_csv": "results.csv",
+  "summary_json": "summary.json",
+  "episode_results_jsonl": "episode_results.jsonl",
+  "eval_meta_json": "eval_meta.json",
+  "eval_log": "eval.log",
+  "metrics_mean": {
+    "success_rate": 0.0,
+    "success_count": 0.0,
+    "total_episodes": 41.0,
+    "avg_episode_length": 449.0,
+    "oracle_done_rate": 0.0,
+    "success_rate_pct": 0.0,
+    "oracle_rate_pct": 0.0
+  },
+  "stats": {
+    "total_episodes": 41,
+    "success_count": 0,
+    "failure_count": 41,
+    "success_rate": 0.0,
+    "avg_episode_length": 449.0,
+    "min_episode_length": 449,
+    "max_episode_length": 449,
+    "num_houses": 37,
+    "house_success_rates": {
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+    "oracle_done_rate": 0.0
+  },
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441",
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/results.csv",
+  "action_config": {
+    "policy_action_type": "joint_pos_rel",
+    "arm_command_mode": "joint_rel_position",
+    "gripper_command_mode": "joint_position",
+    "arm_action_key": "joint_pos_rel",
+    "gripper_action_key": "joint_pos",
+    "source_name": "pnp_next_to_v2",
+    "source_type": "molmo_raw"
+  },
+  "end_on_success": true
+}
diff --git a/pnp_v2/pnp_v2/shards/shard_05/submission/summary.json b/pnp_v2/pnp_v2/shards/shard_05/submission/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcb987ca44d48536638011eb5679169a0d8ccb4c
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_05/submission/summary.json
@@ -0,0 +1,124 @@
+{
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05",
+  "benchmark_source": "arg",
+  "benchmark_mode": "official",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441",
+  "policy_name": "latest",
+  "policy_device": "cuda:0",
+  "camera_names": [
+    "droid_shoulder_light_randomization",
+    "wrist_camera_zed_mini"
+  ],
+  "preview_camera_names": [
+    "droid_shoulder_light_randomization",
+    "wrist_camera_zed_mini"
+  ],
+  "save_video_sensors": [
+    "__none__"
+  ],
+  "obs_camera_name": "droid_shoulder_light_randomization",
+  "obs_wrist_camera_name": "wrist_camera_zed_mini",
+  "action_chunk_size": 8,
+  "end_on_success": true,
+  "num_workers": 1,
+  "task_horizon_steps": 450,
+  "max_episodes": null,
+  "episode_idx": null,
+  "resolved_episode_idx": null,
+  "random_episode": false,
+  "random_seed": 42,
+  "metrics_mean": {
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+    "success_count": 0.0,
+    "total_episodes": 41.0,
+    "avg_episode_length": 449.0,
+    "oracle_done_rate": 0.0,
+    "success_rate_pct": 0.0,
+    "oracle_rate_pct": 0.0
+  },
+  "stats": {
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+    "success_count": 0,
+    "failure_count": 41,
+    "success_rate": 0.0,
+    "avg_episode_length": 449.0,
+    "min_episode_length": 449,
+    "max_episode_length": 449,
+    "num_houses": 37,
+    "house_success_rates": {
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+    "oracle_done_rate": 0.0
+  },
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+  "total_count": 41,
+  "success_rate": 0.0,
+  "action_config": {
+    "policy_action_type": "joint_pos_rel",
+    "arm_command_mode": "joint_rel_position",
+    "gripper_command_mode": "joint_position",
+    "arm_action_key": "joint_pos_rel",
+    "gripper_action_key": "joint_pos",
+    "source_name": "pnp_next_to_v2",
+    "source_type": "molmo_raw"
+  },
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/results.csv",
+  "csv_overall_row": {
+    "policy": "latest",
+    "category": "OVERALL",
+    "successes": 0,
+    "total": 41,
+    "success_rate_pct": 0.0,
+    "ci_95_low_pct": 0.06,
+    "ci_95_high_pct": 8.41,
+    "oracle_successes": 0,
+    "oracle_rate_pct": 0.0,
+    "oracle_ci_95_low_pct": 0.06,
+    "oracle_ci_95_high_pct": 8.41,
+    "jerk_joint_mean": 47.839774,
+    "jerk_joint_std": 35.057394
+  },
+  "preview_video": null,
+  "skip_compose_videos": true,
+  "skip_csv": false,
+  "composed_video_count": 0,
+  "composed_videos": {}
+}
\ No newline at end of file