diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_206/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_206/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3e2b90499061851b182a45a37af751307845fec9
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_206/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f02b27e81228f940e626b2abfa83dd01852b47bc4d658653ecc331d1d62ca50
+size 946969
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_334/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_334/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9fd6b2aad4c515272cc87b345e7ccf4fdadf6fbb
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_334/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8d2a200bcfc40d21cada5e1c35ac85825f5844f1edbbce251265cb7452dd117
+size 983629
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_39/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_39/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9aaddbee201e40b6f935b36ee39c70771f2a3544
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_39/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3efb08961e2ab6507b0abba5c7900b42df0cc6a71c499502ac4a2c01b8d490c9
+size 950592
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_428/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_428/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0b92cea8a1cb729024532e85805413c474686ca4
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_428/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3de8176fafd1193d24ed23e72bb61673eef69433e2459fb4d9aee4a59a115b2
+size 977750
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_506/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_506/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7d97df47a742b2ff40cc96d43c15b7955e09ae21
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_506/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcf892b47c63afe50d36bb395aa5e44d3533b6e33e5836600c4cbdb594dcc3c3
+size 933818
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_77/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_77/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b3a2b37e9cea252aaeb80ae980fbcb5ed1a67876
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_77/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa70f61ff9f2874fd8640be3d45f6dbbdabf4af445c1a8d59a8609c99204be1f
+size 977701
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1023/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1023/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..97dc3f5abeccf3df9b7c8f32a5802d3c0bbdd766
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1023/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a33efa73d5b77e99da5cbb4299177d40f5ad96bd5ded5d175d2b2687004496e
+size 919805
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1153/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1153/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e41322e973a56bd00aba8c50dfba5897c4b34dfc
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1153/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed6a71d9078664532131fe7e8644e7b95d133206dd1fae5e10d8eb70fb9aa577
+size 646325
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1223/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1223/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8e64490383d794e0a56ce2a634a95e2b9c988438
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1223/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfcfa6ead91b6b93186b262b75a5f95f896dfa73039ec7a3f41e29ce69254406
+size 975022
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1314/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1314/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4213cb1fb7a209f476c282243cb848c3da6240c5
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1314/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65748f95fa8ef45b438f4ee5b3cea46dbd8b31037c06aad528f9190a50938048
+size 967500
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1382/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1382/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..be2f176700797b0ea0a1e255f9193015a06a442b
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1382/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0acf1c35d092998144cffc8c16684855df1776347dbd82f25adfe3f24a12f410
+size 938574
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1444/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1444/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0ab829d44cb7d42c4b6ebab5a91910155544a225
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1444/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:774802e74a7ffd92983ef6394d6d6dae6331a085002cf5c9184e62fb33ee4bd3
+size 961105
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1602/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1602/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..70a4b7c3673c5e77fa55d01a5c1382d21c8ce734
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1602/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69385b9afa16c15e6f06d92026a4eccd21c0707c05b2267790e6131a087a3220
+size 911041
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1700/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1700/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..878fed2cc953f3bc73ba7663dd56552d662ee7bb
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1700/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c23f1ed9a47b4f9b4abf8e6293f33e8e77beefceb90ec75661a4a44152e436c9
+size 981001
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1771/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1771/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c03fd93d89dea5b10120846fd093f68499b2dbbf
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1771/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:288027228410a9d4a0de4a45e301e96df403ae76a14e40cb9f1347c9b29767ec
+size 938088
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1886/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1886/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a9ec55ab35b21fe469c8c61fd4f11d791062aa26
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1886/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bb73b3566c45551f7522ef184a000d1e3d88e3d041d21ba6925adbfc840079c
+size 1013803
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1963/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1963/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5c2a59982c21a6055e73e6355cff6bc88315f09a
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1963/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:742237bacfb0090dc65dbad54dd20d55f03f6e463810f4ee12107f2514aa6129
+size 1867780
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1972/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1972/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6119d11bedd9c5727ae3cbe334d7e942d81b890b
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1972/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56be06cfe544378c259244a7912876040ca6f825055c6aa32bd1862b56c0fc3c
+size 959616
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2037/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2037/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5568d73c55c1c945d6b023ebf7bdfeecb5d3df00
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2037/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb060c2b019b3f4ad268a0a95c79d710b3ad78b08a829884383dab9684d0d7dc
+size 954175
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2151/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2151/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8eaaa7bc5b019e6e143e703c867bc039eda70d7c
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2151/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6994328d4ad77b164a7073a10077942f321f2021bff2f2c646596a85f74079a
+size 926132
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2256/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2256/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ce1ce7fcb456a591ccc04dc38b1d2e8cd42bcd60
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2256/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54659452a204f8b4c9893fbf51655a495fa12a69cbc97d8bff19d3b763ba4909
+size 967047
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2363/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2363/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ed6d084297db62f53de7e4117ebd0e0383fa7ca0
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2363/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13bc3bfb8d5001244cd916bc14a5ba36ad6255a8c80f3a73d9aae348e8d08683
+size 986479
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2467/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2467/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..de17b1d1091fd882e516132b113d3a973a0c342b
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2467/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99703cb69f6ec5934c3a3b90eea6de0eeb08fc16ce2051168d8f1ba5e2a63800
+size 929163
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2523/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2523/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..61afabffd49b0edd8084b8b95d811cfb841dfa88
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2523/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9a55982eada8dde505359a51f8bcf0f39b698e2bfbfdc58a196b6255d082faf
+size 921831
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2676/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2676/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ae101a5f9b1aca907decdbda78cb22fd4efc2c7d
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2676/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:305a8c7c95651bb29e834896a39f274dcdef863087f684abc7aafae56993d33a
+size 933860
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2861/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2861/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d3a02af154813ab3141405dcecec1f576113da71
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2861/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3aa976806b51af2d1f1ac192dddff40d828ca95fc8d4cc481b7ef6c1443800f
+size 962612
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2963/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2963/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4737a1472865d379d5ff269f116809f1d66acf76
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2963/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d90668cff2ad4e15a3cec38f34ebd34180397302bed75d621b5487ce759b9cfd
+size 991606
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3056/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3056/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3c08d74370fbb63439e29cd7dca2f5fb70649e0b
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3056/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc1e887f7744babe9ab9bca699a4b20f03b6a95d283df66e5e4c1fd149ad0538
+size 936498
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3199/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3199/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..344655aedb9e55e229a7a306d447c2a5594be786
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3199/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb4fc3e45933ef195e2a0772bd8909d5aee5ad27b487a8f21aee5d0b7c5fed3a
+size 942329
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3262/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3262/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a727886c955313fcfaa2d8fa4c34466d65904a40
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3262/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36476cb15631e79ba67dc99a3544e1711f66c0617ac6baf7fe8e5e5cd79509e8
+size 947583
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3286/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3286/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ac6b1a2e9cc9152dd9012e64daab52e8b7046355
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3286/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30b4f8733134d6090ae405abe5a8a664d6fe5d4cd77939e7ef4b278c352e0706
+size 970485
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3381/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3381/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..89bbe6fff383e84cb107e5d91faab090e480486b
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3381/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1650b8d7730ea0200b4e3d9df2e855c531be4822870690e2125be286aa4b33f
+size 971338
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3441/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3441/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f91240f0493dd5dce8e064020fb91ac710a97850
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3441/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab717bb4afbad658f8c72dc9be3819e5c89f8d134e4019a3853448eed004e6c4
+size 972432
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3527/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3527/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6303e2b634e3c4fba157866c7085a38cdcbef071
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3527/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e2e0316cc30d04bcf22161735c1847196f645134972095104ce1ef23e9b431d
+size 967319
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3631/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3631/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..465f2c3353dd3785b00eb7e00920f75c1af2fa3b
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3631/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1abf26ff289d221a64a17c732bd4a222578eeb42562a8fb279ae08d7642907bd
+size 923996
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3723/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3723/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..05e90da1a826b9ee7dafefc8e3d3a19d4761026f
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3723/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:076e85e9ab99a34d6cd64a85a1f9a713c5d2cd2e9d59bfb25060c23fee70c686
+size 960573
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3776/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3776/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3747dbc23809fe77d9b978b9bc9c0d7cdf526d43
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3776/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b640cbd8016b85ef77ee5b1a94bc72d425050af4cfa211a9037859311c865675
+size 925497
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3912/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3912/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..02194cc2a31b76e6c4cf2236937a626bfac58bf2
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3912/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d22d717e55307129322240a02589da7cae1ac43fb54c2cb2647c63b61681c9d
+size 930921
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4034/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4034/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..956f010891d568f2993b2eb096969d4a63ac78b4
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4034/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f5b4a5e75d5d2b8e2654b3941bfce63588935447c945cfa3de9b75b562318d6
+size 930292
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4136/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4136/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..20b91e49b32cd615bc87e4f0c05648d5e2172996
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4136/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f24e2d38ff52fa15dcd84e3a06a829ab9c69d2f53f91d5f4558aec42a596cf06
+size 928552
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4184/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4184/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e7334a5d83d65898fce6ac2585c4fd0950fe3355
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4184/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae5c11c3cfdfa26f6c1a8c0849ca42bfe3e4d3c08411be16d9918451ade9603f
+size 1883655
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4205/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4205/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c3a667e6524d866175270e93ead192e5109fc63a
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4205/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:506a8c6fa4dfadb2c8243944768e14d52d201fda667b8b9aaaf9fb9b39f9aabb
+size 947550
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4283/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4283/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..71ee08939e3b519de63760c4303b443edb9d2d1c
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4283/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49ff62c237a079b37c775e42dc8907bc070531a4d153dce23038c9c73b4ef5dd
+size 903993
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4323/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4323/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..30881448d93b0cb6b5b37a9d0e18e99184de2bcf
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4323/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd56801f3c6e9690000ad540a65fdc5ae94f77bd2e93b6d91862a9dd6a64e296
+size 933756
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4398/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4398/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b80b959c6e9d32d7fc96d3a93b971eed1f3eb4a2
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4398/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:504d47c74f80d1a2db0fbeb2ebe2707f831c4e7bd65b4b68dcd714f508a18602
+size 925097
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4492/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4492/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a7e156faec2edc7419ef51f04e9804d2bc19c2b3
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4492/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c91a6e9a867fb00916315c31273cd81450564da5c666115113b51691a2c42ad
+size 980562
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4610/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4610/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..624d2acbe1da321e214587e2417fd58cf98a89b1
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4610/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce2b61e4d206e297335971084c6cc6d593b836b35bcd39b3bab2a1193dcbeeb8
+size 931565
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4677/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4677/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..02731f12b2d29edbceebb6dca436b7635db982a8
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4677/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41c0657931d83323029e26055c311269744b2a989ddef1f684060fbb757958d6
+size 956845
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4712/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4712/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1f9a841c7fd27a0311330ec809689fbcee0c7f5d
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4712/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee40ec460e98b3e5aa7982e338f43dfcab4253ed1ddc35d44b113c13b67aa8fb
+size 958880
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4793/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4793/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1dbb9a6ae9fbbb99a6813af6a3b75d77a8a94215
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4793/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05921ae144a9bbbc0710f4086fd65ce7188fb997025462b1b8c1f5338034b012
+size 918383
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4870/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4870/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5640d70f58ba1bde033a891539793728006709fb
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4870/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e4f1eb08c61e2a818230043e62c9a7b0d9a1386ed1582ebd0b89ba01afb1669
+size 929140
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4957/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4957/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2eebcb93d15816a75c1f4aecfddb2bfe3775896a
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4957/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01aebb51cc6e7473b9bb70aa33aa44dcf131cb841e12f254a892c79363d94f0b
+size 974666
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5145/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5145/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8ba67b52f72541239fd6855ea8d7aec1b78f8116
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5145/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c5d1091272859e2fe087aaf857a5bf63d889544e3d4d159672149080dc6488f
+size 929217
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5200/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5200/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8066ff1d4676bf4e9505d20e00b63078bf1b14dd
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5200/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a3519c1ed4b991669d6562f504f36e77baf6a5f82c1338d9394226fd4c375b7
+size 951146
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5342/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5342/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..386683537c9c00df9ec86d798923bf3a00443cfe
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5342/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dff726f9eabfd00925d11fd044b4ce4b40a3d97a1b72be6c8a71fb9109046b36
+size 952768
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5453/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5453/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2d720cccfb2d46cd4c667a97a85504c63b60f1b3
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5453/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0695f9a6f0a005d2a131cd53788645c923bb0ebc4694915f190d387f427360e0
+size 950386
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5543/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5543/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..89794a2a1d0c4e0a69a45ce27001670baf3b2b3c
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5543/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:411ac206b638e0365fe5120121dfa833aa54657d585e371b020fa5c4aca05be1
+size 926079
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5666/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5666/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a731a2da0881733c3fd6086e1f0d993db98c59f4
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5666/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed212cf0ad2ccd26e2ec66c9afa23c7ab9bd67f4b45ef1c8b18c05e1bf367da7
+size 950127
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_571/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_571/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1f2fa26ce714f551cd6b39db3ad69e3657383fed
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_571/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:999043a61fc27b9fc126a3128f0bbfa43e4e182cc6a9402dda919f80f1b93f0f
+size 945568
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5770/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5770/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f9bad6b54c229c84a6421e9ac08b181266f00338
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5770/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85c53d7890ba0bbdcd151676f17b64db1fea6258d3af5d1708f1f9a9f3c1d4e5
+size 938018
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5896/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5896/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d873e7faca5bae2bf245296768c2cdf7f798d952
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5896/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a7def461a4a145251551ccbc1fb76b63fe087f0d6b999989f189bf13c745421
+size 903321
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5923/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5923/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8e6c6aeba325eb6cef2470213952e885e611f62e
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5923/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b68a9afa83e770534ad701f991384d8a34f1231000f7a7643f5615b5bac35b4
+size 1000523
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6057/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6057/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..87748663dcbfe0c275330c613ffae470b43e4fb8
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6057/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec506a483c3886f447ca802b00c4f5d6fbb827bb95bf0ad4c352fa27723d4050
+size 917607
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6120/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6120/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4d5f4532ad3938453680360272564c58b5d58fda
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6120/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0001b5f8b25de88c1a962e755ae163f71e78e652ecf6a8577921be72d7ce67a4
+size 917205
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6204/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6204/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..db25b51ad9cb3bb6900bb98b1be6701f01e3fec3
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6204/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed0ff89f34811f745d588faf93fd811bef8273b24291d0883ef445ba2e241908
+size 947357
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6213/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6213/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..edb6d996b0cc9d30895c58bdf1436c3fd4227e7a
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6213/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df39648b2f1d7716704c0729d5733df7bd74f5b24408920cdfde4761f4e5759f
+size 1958092
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6257/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6257/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d6628134b14547d5f3b990ada16ddd320730cb10
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6257/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da5d45563bbff5cf649fb4818af1c94b0f3ab12e3ac5c3b0eaf809dffa569259
+size 935992
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6302/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6302/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d2b4dac99e0abf1ad30cdf89afa947f954764b41
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6302/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3837e4b01a37c550cd61acb30945e56e8fdcec1edef6a9e1ea04f209edbd027d
+size 926133
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6385/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6385/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..38eb009ee3d113e45045c4b79710c853662e872c
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6385/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:662db2f1adb85d3744ee62dbc7890ce99864bb60e3b43782483b49e3d1678ba5
+size 954430
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6452/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6452/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..39741a89695680384f427ed58af1ffcbbced959f
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6452/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03bfd411574ac3cded71520809547c16a71ccd01bf007ac94eddb33a4b6926ef
+size 989113
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6543/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6543/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..332cab919f2e13ebaa99403df6b40175c05e3cb8
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6543/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7860a2c73e4069c09b4294774ff03e968ccc85cfe34e117762b2292dc9524d70
+size 880761
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6698/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6698/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c0a1370c2b8397411dfd3b211b002139ae4e0db7
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6698/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92206113f9cc93f7e71473110f614d3c2e8acc5f79a6e2d4367b65b4ba32edd9
+size 940939
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6766/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6766/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..454d7b49f9712070208046671ba1c3e0bac12e46
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6766/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:615001d17ac245384118bdf5d936b32775089a61afa0215a04992cf575f3741f
+size 950820
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_679/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_679/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7be8675681ef30a3e10a6bff8f15e025071f6f31
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_679/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb500cd1e3b129453ba5d029c716973b5b1a1e85a6b7e6044584f99a2991b5c8
+size 990139
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6884/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6884/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7cb9e518b78662ff171a8e392310fc8b1e12a8ef
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6884/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ee5e26f48f59c990f6d7535d08771c3a0859d51e6f1fba85cb233514bb2576e
+size 1013365
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6941/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6941/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2edbc282e4d6fa8cf3439db1481716c943a53d43
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6941/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e5d438c6519c2cdb1f2336a5bc8ece58906c551e38439c9cb3034b9e7db2978
+size 974750
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7013/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7013/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e54954d803c68b7dc1e5cf40a64add57ea51e907
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7013/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18d8189043be73c2588436e68d3c1889556fbda3e83f4966d5928cbc5741f3a1
+size 970566
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7076/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7076/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5e33f8d3cd6b958e6a59011ee985fd0e1a5b1aa7
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7076/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f899a2772544002f06f35db494d0859fc43efbb544c225a26efe2a36edaec074
+size 947964
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7172/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7172/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5d29a61e03a8adf2d4bc4dc45dda24a1630d3e47
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7172/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c6a401ec5048fdce323c36bccb879ee183da2153bd9dfc1caacfba791e4c2dc
+size 959720
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_725/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_725/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..184b97b0b6518f66de010b4794f708580a41f46c
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_725/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5658a513e36d82d7450c926df56bceffed7d8391ef7ee4e9888862d4ab28805a
+size 948519
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7281/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7281/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2c4b83a01bed6dc08b8e51f77e655ef42627e909
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7281/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eff1c2dd2061d8db7469910921476bc655c8d8bf272fa649ede7002ffb83fbd
+size 945399
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7343/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7343/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..39bfa86c8416c623e933ceb21b6ffb42d0055929
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7343/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57998347137d102767951ce36cbe111e3e8fc1cda36d428f223bb49cc19b1220
+size 934807
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7377/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7377/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d7cc8af85091f271ff742293a8dcec4789751a82
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7377/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2525b9fb86bf0a55a07ecedb9a0712770d9ce654bb592d82dd976be6a1e210ac
+size 927705
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7449/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7449/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..816ae792709b7764f534a426aae783cbd81799dc
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7449/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f55f449df5567308f9a093de37fa597ac1c6f927e88e6ba351992330dd2a2365
+size 913936
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7506/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7506/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..96f020cbcdf366aebe0dbc8913d0fab79681c7df
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7506/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5cac5ca5857ecc7be4eca939239250adca9b6996277b7fac807a19f9c086d8a
+size 906537
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7641/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7641/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4ca646c6f5d8ff677f9940a4b80c31979c11acf9
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7641/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0b38ae5d0ad2a337740937420cbbf1df205a0b07ff669c90c2e6f6c3877cda9
+size 960993
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7755/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7755/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4425bd3bcb703f9c139eaf7ca5c7c9b9429b5742
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7755/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5ed3186e44bdc3b40ce286a486711b305d95030dfecf62c959bf2ce08deb126
+size 951979
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_778/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_778/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..57f7b4c7fbb2982101ed2fb952004719f70e6a82
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_778/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a80b659f9b4158ecf72c92521d188299ce49c704a97ff196cb8dd288bdc3d48
+size 925249
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7933/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7933/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..49f3cdf53a91f0f7371d8004885e93be40f860de
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7933/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a913e82bb1cdf48aa83b636c52900c4a16cd0f410c7bd4a09b6f359d7018928
+size 978227
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8019/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8019/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fbeb17ec60847f6ca074e4329e270a67c8ef1f1c
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8019/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c442c35571750e4f0c9d99f507b4a37c6a76184845f20d1ac8bc181131dde93
+size 965614
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8115/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8115/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4c3d92b0ea1847d1a4d2a43332ea186739f2e58e
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8115/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6edf018068ccf9fee0a4e07cb6ba214983d5289659d59cc87eb663e76b203a2d
+size 960642
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8264/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8264/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..410bfc0330f4c07769e3206dcd14e4b0c1f9e267
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8264/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0959a432bf614d1f6885ff6a0431318eb33f6e49e2bcace04dfe250040cfb765
+size 952674
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8278/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8278/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b64a0a50fbc8013c73af9654b7762b6b7d613cda
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8278/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:450a8254ad3d35b587a0094ce5a313f3fbcd9313221c3a6c21b9829841faa1bf
+size 1864447
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8373/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8373/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..95ee7a3703e958cf67e9de8fe3ffd2f630da4a5c
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8373/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e77f1cc34d1325106acd5c60c5ebbc0be4aabb995114a115611668384c09a7a2
+size 928720
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8410/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8410/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8b621c397ca8b4da4dbddfb161f04db9be3b69c1
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8410/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9735fd6addb71ff5680b136c3f5510321efdeea1b6a78924da71e3288c76d8fd
+size 922512
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_861/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_861/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..84d549dc37b5d43f7d8289bbcbacfbd8b4180cfe
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_861/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc4764d7c664096988733b91c603910f1d57284d260faceee6b0547c0a73d3bd
+size 945675
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8625/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8625/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f8d6da2ae3c6da2ec4d1ab0918283e00c3fb9e8f
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8625/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77ca5421b78c45bb6f8909bcebfc39b316e420635e4228cfd796afff79f032ac
+size 979517
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8697/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8697/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..22573e887667f06851f27b1a2ee00968e0db6297
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8697/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd50fdd07776640c71116265983b914216e0c8c49e2c2c965c57badb74edecfc
+size 1005607
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8794/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8794/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0e9e892b773063e3637082a163d00e37117392c4
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8794/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ecee2ddb175e296b153e6e8fa2b420ee60ca470e90892af8fbe99c75b108154
+size 928860
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8872/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8872/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..33b8c1022b93e3e9b79d32f8093838418ca43ccb
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8872/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55fe6fb8196a40a18dc6f1b39ac4945cca490b7ff99060e8ead26be93004f957
+size 935333
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8933/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8933/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e08add2bbbbb9a8970231a1378c27c2fb1d5a51e
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8933/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c254e99da1c7f23f082e0c249fdc192cb1e058f901c476fd2ab6764f1babff4
+size 962725
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9017/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9017/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..aa50ef28819c671b6f66f55cb6e44014fedced73
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9017/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3980ac4daf1ec5c315dd71b2da23fb6afec06864508af35e5c7304300db13e6a
+size 991744
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9073/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9073/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f51e187648c9ab5822a76250a13f18fb23ea26bc
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9073/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96b98213f2bb6dd8dd2d18b1d8d257268877a670088c423fd4b8d0c5920c72eb
+size 933801
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9142/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9142/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dce08712b4677ad9ab5ed85a43f5b0540cade969
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9142/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3f6dc26c2ba2790548216c21ae26eaf0a334f0fafddd32792412738f518b3b4
+size 967084
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9221/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9221/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cb1bfec9a731d3548ee3a39ce97462e584169064
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9221/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:631c9bfe2806f23bb0cdb65806af6194ec9042ebd754ca908932bb56bf41fc15
+size 924448
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9297/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9297/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..684b13dc1067e436fd670041229542c6b5398e93
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9297/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3a14dd6f7830898c4f60e050dc2b4c9418b64206a141770e0bb11f2fc7a4ef7
+size 925085
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9414/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9414/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4acc2226ab3aaa2514e1cc8d391e10bfc5c802be
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9414/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a005e79469c99d85a328ad597322a7d9c5f48d3d2c535a1c911b7bf96288fd83
+size 947748
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9492/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9492/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..19b57df0a705510e9463acbe22891cd6173663cd
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9492/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24289d0f9b84388a978290374bde09c129558cecbc60edca15855bcf7007e8a3
+size 961569
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9538/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9538/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f324e68527e7d660d7f482d9fcf51fd33f8a9052
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9538/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e9fa5eb28bc50ca360fff177332ee3cae35804582fb5ecf574a5cd68fa4250d
+size 925687
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9609/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9609/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3f1171f684194c602db3a8a91059d0238828ba00
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9609/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f44118da2b88c7c4a4218fd214e58d545419b078ea4c111a74955128d23d724
+size 977304
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9687/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9687/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cebe1eb24776d1c3c6e93d6614774de9887ca8fd
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9687/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81f87d9bcfee7684af873c47aac39c82a7ee246ee486c9e2cf3fddae76f2df7e
+size 938379
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9768/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9768/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4744c2c4cb13a04fc083c9f8b0836646694e1b2e
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9768/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a6eacc8b816116201a5d1ddd9f4c20ce723b463199c463808146abb012c3299
+size 927257
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9939/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9939/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3af43d1af2f7370aa84b2d5ccd6fa715652f57c5
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9939/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfd3164e2caf10f786e254d4b1712d7ebd42821d4479452d6578738baaef0bc5
+size 960332
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/experiment_config_20260526_120516.pkl b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/experiment_config_20260526_120516.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..cd2cdff593a075b82f0c9ef305d3f8f48631ef1e
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/experiment_config_20260526_120516.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0f47cfaa4eb58593ed557174c758b4205e94ef4da9704f5efb28dd883d36bf0
+size 5257
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/experiment_config_20260526_194816.pkl b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/experiment_config_20260526_194816.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b52cd3430555b200c401ca75bd7a1e1c486781d0
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/experiment_config_20260526_194816.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6e5c1ad42c0b7c62e12045186473323199dcd7fc4a4598f738c61215611dc0b
+size 5242
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1042/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1042/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..00518c738a355570b19f7e92badd6424b827509c
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1042/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f6ca2a85c46b8d742cbb877df6d4ec32c4d09c3b0382086152e3e325cdbc0b2
+size 949492
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1170/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1170/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f74ccbf1fa69714e4231367e6f696eda55183a27
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1170/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db754aa9abcbc541acdc15aac50acc637be74203dcefbf93f53f99a5cf450e7a
+size 947460
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1234/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1234/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a1f46af4d0ce3d11d2e2be13d634c9c2246ff76d
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1234/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec6638009fed20595180c3b980e5b5e9bd1d708901aaab1b085b7f985ded79b6
+size 964454
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1328/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1328/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..122dc057fefcaddc27fb0b220b73c49134cd94d7
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1328/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e1caa4c588b36f206c84357a21ac688cf55747f463a7d241cf54df1f37f338b
+size 919632
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1388/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1388/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..19b6f849e930aeeb033c2caff62af83a40de8d75
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1388/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c44c343b61479a08a5e1494212cbfade5151795ec28dc35d442ad8408d7b6c3
+size 951108
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1504/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1504/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6e36f5147b29fe0334c6871634d209d44aa53510
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1504/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d74514449b38205a7d6c4222056f8b3a6870c3b68ad03cd6a4fccdc208aea4a
+size 980900
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1634/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1634/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..93ac1a8678c24b9676eedf3e2f64b37160451401
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1634/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba2972bebb820ee57a0e6f0eab31bd8f4289b4340a5e5bc6084705256187b9d3
+size 997848
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1731/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1731/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a184982ad056eef5f9de7ec0eb25d3a45c199ef2
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1731/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7252a17cb7730dca3770bab0d4091362de2bf59791088ace93329f8f67c94f00
+size 954853
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1907/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1907/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..50627961c96bad7e990e0dd1bac662370dbce4a6
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1907/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b22a4efe5635ba11f97f1a57f172b37dd2802e3e2155612cb5299aa623a2830
+size 975128
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2041/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2041/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..97df6d60a9619911518dd29ed826e9d8413b7383
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2041/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71455b7a9b2976def3a090c83780b12d069207b576435f4e3d0f90d9e11f120d
+size 916904
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2165/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2165/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..669a85a85509182be100e7f9f8fdd4a979b34218
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2165/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cc8cbbac7fd30ab6cab9acc36cba8f7a981acb152ec74f597163b79d24a1ae4
+size 979903
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2384/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2384/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..db7aac6a84014f88c8c96201d366e613dba47130
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2384/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6074ded9b19dced5d59745650ef91851dc473c425c834291a3962ec31967d331
+size 952600
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2478/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2478/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bf6d078b4961c00538e484fcc13debec8017df7f
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2478/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b805b2524c238a5aa9f3af5ec403fcacf570aed11bf7d730d01ed27e0b587e40
+size 960376
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2575/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2575/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f3720002ce2eb72a8e6c918f8021f9e6ad253a74
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2575/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c5184d67532742ae4590b96f7c69069e15b6aaa29f689fe37d4bce6bea5bbc1
+size 942669
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2681/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2681/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fdcc77bd348223b176630d84e04ffcc36c2d58ca
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2681/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6456dcdd23d366c6694cdc0e9c6d7a88c5373ece70edf915d98d4d5d669184fc
+size 977239
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2805/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2805/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e018d5aa6c16eb8710d5ecea3c17aaa8432ca52a
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2805/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a31817c941f78474949546445fb1426208837bcb4ed0f35a42eb7109fe6bb347
+size 927746
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2885/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2885/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3d34b35414351cda9894cb96f3995787cec0c9ab
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2885/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:defb947f91376c181f3dba8518a7aeed09a05e4237982e50ce18765b159126e2
+size 971716
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2978/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2978/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..df42d970717135d1473f40318abc8199da4a73c7
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2978/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:721156b37fe2fde5126b5412023979444cee7294f823f40ddc511a9a1b06ef3e
+size 955311
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3211/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3211/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8c0f919abbe33791b29d31821ba2e9895bd2a4b4
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3211/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f112ff0e03f9345e81200e8300e126de6853077d55309e54a777741a53ad7ad
+size 960435
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3269/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3269/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..73e89e0a59d4992281aeca304368dda4890157a8
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3269/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8514ccd2dc86104785edd222ba24bb4425b2fe895c55ee5b7d1a60b942ed5343
+size 935235
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3319/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3319/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..72e88f9a05b35e372c683a7ae66433703447b899
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3319/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1a321a028477cd399e17159e1eff3fddb9cf6b85faf8a67ceb565bbd4a3cea4
+size 985275
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3462/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3462/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5b18c0b2222bf811532cb169eeeb7605c5506412
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3462/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e43527079c4250463b218478f750a6c8462c8f015269795ae50345bf6f618b63
+size 945910
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3536/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3536/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a9980ccd3e3e8426b61c9cd9fb1c24fe28ad2e57
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3536/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebb1a4e32181d753f69fabfaf42451ac916e3df757b5a1195aae184c93e33ac9
+size 924421
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3561/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3561/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..37436ac48124d3d55ec6ec4e502e51d7695800b0
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3561/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cadce59e6c1a22f8504588f3ceedc0f20c3397a89372b804a57e243bf2c1ef82
+size 1880717
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3647/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3647/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cf7a509c58c7534b42dde0a1db3eb1151e79e55d
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3647/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dca7d7edd1351d7b7b52aab74edc599d782b6a0b8e7d490df973fcb27c732b3
+size 936245
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3746/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3746/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..811b14fcec35bb16e8ec6f1977d91f6b1e8fd352
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3746/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bef3216af9aa64414ed2bcc24be22f86f92a7f4857f25940c07db3eea40ad7b
+size 998471
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4063/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4063/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cc508e6c9965f307b23f98fb0af2c1cbc86150d7
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4063/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bc27cc8e242ac423b9b4801b5a8f2d7361c012d6e4b77c3fbaa9216003fc104
+size 940832
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4151/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4151/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ad3602e6cff4ada24b4b2803d0c9bca3fbb7490d
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4151/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9430422ad6280079594851cb3eef214bee42ddbcf288908953f39463d03fc5eb
+size 903127
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4234/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4234/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..485b38bd5281ada4299c67f58c22e41667e3f4fb
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4234/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d48508caa3194441fa32d188b4d27311fcc6f1d64befa26c5c7c185960d1610d
+size 950022
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4292/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4292/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8066494f7b609d7d492290024b078b91f324b798
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4292/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d25bbfca488122d10b08f13682c57d21451a664e8198d28c734a84ce2d9e7f1a
+size 947157
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4327/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4327/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e9c9a0940150aecb0725206dc99e1fbea7b0c71f
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4327/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45334817b876ad5a2c4c69b01aec3f7e25ef7f73cb77fe3ae60ddce5a3579d60
+size 968264
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4349/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4349/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c6228ac1f16e97ab40848558b46910be22f9dfcb
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4349/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0a5a10a73ef103dd7565f7544fcdef501f98ce1ebff4d0f1d789cba575ae87c
+size 1936493
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4403/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4403/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..29e8d3bed161f31c7699f344d839a9db7ceec0dc
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4403/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83fa315cb8d72930997a4aa751ac680bf9fc42934ce533a6965547a112de4211
+size 957798
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4623/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4623/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..41f924b200edc822c1e473ae7e3d1af60a27a20e
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4623/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49f88c530270106de66985197263bcce6d20a167c0698575352e922152ea32c9
+size 935514
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4726/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4726/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e94a796a6a916b1769cf9c8a297777fc42d8a7ad
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4726/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:415e94df54ff97b44585103b406033b46cd39944eea16ea0c339c747ccc91bba
+size 945406
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4802/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4802/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2dc04716b69cf3d77d50c54f886138d671deaa2b
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4802/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5d6c019152279940f7f0d6cfb58d8081087f55e328fe2cdfd534c174f4390be
+size 960013
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4882/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4882/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e8317f2ae503716361a4bd4bde3376db3fece413
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4882/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5748acb0329087555c8e36eb3933082076c4b8cd90976947c7dc2f686c651e16
+size 915573
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4974/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4974/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d0c5984b7590dc2371b266c481c7c5807ddfbc4b
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4974/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1e6882e30ca6a49bb9eadbb63ee562ccd9baa5d577782208e8e88396a03bd25
+size 937174
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5097/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5097/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..68dbb42564583c700298cb31c4830db61c3f79cc
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5097/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1c42ba9d2a3257a41c3e6233be2bea7e492d8e3400c72d0cfd1a0d4276e623c
+size 911482
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5172/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5172/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..55080b3a800e0dda0eef0c1d38b1cc27faef20f7
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5172/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a5c49450c37e3f8e540c92ae14f5419dbbc4587bf292481996a5d92d06b3e46
+size 965419
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5211/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5211/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e3d7ceca46eca1a2c527534e6a3b47e43729755b
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5211/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e34ff12290422f6767fd7b35155f06ca01e447e21ff2300984e9acc02915ce0
+size 989119
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5464/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5464/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..10ac2057a7727695c406fc9934a459c5f8a87cf4
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5464/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbc49dcd3e479d2eea63251d0102667a93ad3b061b5f93ff10abada74b8e1709
+size 402193
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5548/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5548/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c547cf14a6509e51ebd1e427cc57aeba60d15d03
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5548/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebef92ac7b2362dffd396a82b68707862ea5bf9017174c661b9e6ed52185fade
+size 1006016
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5618/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5618/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..61f8f490f3b16b0b1fc5482f307d2ccb318dc132
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5618/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95abc1f1776d735fa3aa496f71684f25c521d737f78822cbf9572b9f91ba6082
+size 933842
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5672/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5672/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f84725399c9732fc4ed6063bfc942bb983355775
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5672/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5dd2c15b6824a1afc32bef381b4c52c277dbaf0e36480adca6cb4fbab6edbc0
+size 958422
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5786/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5786/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..479352c859deff7fa56a2882b100dfdb86f111e1
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5786/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e454db3f30dec6282d35fca414a6eba7b3470cb23ef1c382817d7d8627e50145
+size 943379
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5898/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5898/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e1dc97a3fadf1b7099bd3521b0c8566476e748b0
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5898/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b969025c8a09cf4dbc590e5016110947a957207f3379ec1e2cc33447d6ed00dc
+size 945937
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5959/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5959/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1c89db29ea5783024158fc136ba4bbf7f9d7861f
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5959/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b97ef3121d178de4c457d4633612f895e1585c4ae8212950fa6fbb17cbb9375c
+size 972362
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6144/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6144/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9dd5c92846b7f7f27fd35c59704bca16afaaa8bd
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6144/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9870ded5c3ae039e16759f65edfc2a1a16f1c907ecc92ac2c9d72aa79c216edf
+size 948187
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6208/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6208/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..65ce72c71dca000da6adbabedf1d5f82a2ede80b
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6208/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d04b53dd2d9724dbf6ee86b353c8a4967c7bcb6796b347465b52270021625fd6
+size 963905
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_622/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_622/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..49427cf147222a656f73661ef2f97668056fcd60
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_622/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:029eadc3c478116bf1e88a8157cae0cbc00365f1b1f0dca943a9c868b89ae289
+size 918201
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6271/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6271/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4d6f62f7126267417fc6644ac9773edf6fb94bf9
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6271/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95289aa81fd8819f2b9c52b388c7244b51f1a32164e4fdcfe56f03b60ee1f955
+size 932394
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6325/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6325/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..227e0177471ce05deb13a6403895b31062c26bd0
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6325/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8ceda476f3181fb2ecfdb23e5317667ffa9001d81192cdb50e81c5133c664ec
+size 957862
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6396/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6396/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9aa4f4b83e9f58c7ffc83faa70521c3dd728f2d3
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6396/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38b9de942dd8aeb9156016ca81fa3e4fdc045249d9847ca666c665b1bd866c20
+size 974392
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6485/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6485/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..af48ff890c42402b53afec5caab0bde1ee7f7d21
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6485/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bfe6abf3eb0a3a3430d18fc3aeaff1ba59e52f3dbb6223b34217d1f38d00364
+size 1854581
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6492/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6492/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f93df716d4360b0efad55cc0fdb88bd9a3a90a82
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6492/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bd53abb3b77df3864e305dec23cb5a4894776e3e2cc6ec0c784f6b991a8fff4
+size 963335
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6591/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6591/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0af7d4dc25f30336a88d335a084ef5fea71b267e
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6591/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a046fd4226edbe60fda13fb2a04bb252271addac755cc1fd1d58c8430c82fcfd
+size 938256
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6721/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6721/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d4988cb99db31ce2fc49c1155bfdd9bf58006d8e
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6721/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d7d5f595307aa2a16646e705d048cd475f547fef0af6015cdfc184c0bd2df46
+size 945865
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6788/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6788/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bd6411051d6c32d10d6a5c37c2660b2e44818709
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6788/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c25787599c2e967b9c4c79dc64737d0ff0a43974fd5264407fc67b810201d95
+size 998146
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_691/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_691/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..04312b5de4b00ecd80641b44e95e337e2528bd96
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_691/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8a2b67297a062d4abf369ffe2c2595e6007bea8c5b1844c9228ad1e2c773622
+size 937875
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6911/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6911/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c9da68bfbd764f8f3c47b0ecb5bcc0fd9eb18029
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6911/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cfc9b93f3810a70836285a48964b389cd836d2005b34fe07691c07543208cf1
+size 1007992
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6981/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6981/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f0483abdb161955081c5f811b79dc79213976a95
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6981/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70db819ec43e1a8901a8208116538c6eeb0fa723642347ddf335dc2e1c8c8602
+size 989085
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7301/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7301/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..df1febc03b34743f5a01a2ae5caadf202acc45f4
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7301/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da7bea6f8c6a7e4f25d224484e31f52097cc1ee6fbbea137899d6db624f6b256
+size 917983
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_732/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_732/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8ebd46660ea5e90c34277d0514e2eec116e6ddd4
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_732/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16aa59ab7446f0eee462c29a98a424c311ff7d19a919c2d543f1eeb2e847d6f4
+size 947429
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7348/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7348/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1b16f85ee1ad344140be984f3b987bd8a5edebf5
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7348/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52868ae06f0497c377ec5b89e5381f68e60948f02fe46c02af32636fdb852237
+size 962589
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7405/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7405/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f60711fe852ce4ecfbaedf925c49add545e7d191
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7405/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b73998ea096d08ce840d758aa220226b49759ae0f3076a3f53246b1624c33c01
+size 968574
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7472/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7472/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e4a92d03b56ebff50832e1157aedc1b98daca951
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7472/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebcb85c1b33e6047ee8cec7b56d909f57c0fdf4efac635e2748c77b91e3493cf
+size 949644
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7672/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7672/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e7405b495dd8bc7b0509abb5acb8cd5263d0a837
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7672/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:870a4549a2d893273490a48f0be4fd2211ff3f97f1091b55c161029ada10dcf1
+size 975574
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7857/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7857/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..489145a6f79ad099bdbf94792a6eca220d4a2b19
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7857/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:832777153ba18cb3facb375d513fe5633181d8ad9ffa7b6590e3bcc98625daff
+size 265784
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_791/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_791/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f973ac43fb0dc03f50fb2c7ae494519cbb06d7aa
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_791/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:250457996bc5fe9308a889c99e654e682dc67eee15dc92b4cf106c22e5c43be0
+size 968233
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8064/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8064/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fdf442afad2fa0611023ad4fdd9c969bb0e62fd4
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8064/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3020c67f55aeb73eb0f8178b4ba05156fa6cd67c7b8a0306ce03e5004e039f3b
+size 925037
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8136/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8136/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..941f9438577b9266991f43fc18d56d1c6daec13f
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8136/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e364f7d756e22220b9ec17ac5108d6da80a855b10500ce8deb3aa25e0d7800bd
+size 939035
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8231/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8231/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..68173a470664826dbb32c0bbe3dd554d185ecbd9
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8231/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d0d6e28717ada7546feace0740f6fc0a20b67963356d827e93531125023559b
+size 923821
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8303/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8303/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5e8c3f59f2e78743f75b1b8334a4aad107cbd465
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8303/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64f58115835eb97addc83d30533ccac1053dbbecb5c44edc2b7d9d9851638d52
+size 1008938
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8537/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8537/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c11874493248a92f28aa2a8998543692fd18abc9
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8537/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f50dd43ea400f321dc22bc42a4c4001f859395d090f810d9435ad2a45a98b048
+size 953489
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8643/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8643/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7ae5a3f33ea0ca218ce3bd594e445b2a685e7036
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8643/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2783a2c48f68312f3969c063422ec545babc4c37c275cfb4430da784a73cb8d3
+size 928956
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_867/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_867/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..daf4152d8a1760d9f719c3a1a30b1dd4e99737ad
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_867/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86f40e7b3cecbe24b4527e23e9662d89245c90c263e393edcc28333082aa9e05
+size 912871
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8805/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8805/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0d836c4e2e83a3451c5d8708d5514dace18856ca
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8805/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:896a3747e9df29032663e35740cfefa7a228749643e192be989b6301fe2f62a9
+size 940567
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8881/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8881/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f8748d5d989fe1f3c48c8b7b39bc394b08a81715
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8881/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9099a93836f70d209dd23a180c70db99e2d979722d30e14630e4b066b60db59a
+size 962468
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8952/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8952/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3cc8a68d84fce3d2bdf9ea48fd5b696818946e86
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8952/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c07720f73d1d72f2979db82c129675a702401ce91f1df5304ccc824ead09b168
+size 958789
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9022/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9022/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d88436d1d65da552fa41441d2d47babae844b3a8
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9022/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b96ac87af87d40c93ae5d24ef34e194a761d8933ba2e1dd3d7ee5edde442c5d
+size 991930
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9308/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9308/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7fdfe5e768174208a9d9f5bbc878e2ad0d360a30
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9308/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b3d98b9de24544775053c42af433c3ab9ab8544d06d070c2ed8a0b9e464e757
+size 957148
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_939/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_939/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7aa395c2db50adad0facfc2730183f46ad89484f
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_939/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:089bb0793a45d766bd7f2ce47eea68f03f689c0e9467751491494cb596b6d858
+size 958900
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9422/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9422/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..83271dc65a64272a98c51164868a68a1c0b5eb3e
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9422/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d89530d8a710fa46b8b769042be62bfdc2b9762c3d189a915be8c956d200234f
+size 956553
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9496/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9496/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7e8b54ab780d214d7ed97cba8e16100a85da3c03
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9496/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63173a4a87e20bab12a2948cacd7f9db3b7c4c25f65a172907eb04041efcc47b
+size 945604
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9642/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9642/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7333bbfe214a965c6291cf995b35ebff5668147e
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9642/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88ac8f88d5e2147d7bf24c3bb06aefa574730883b08932a501f356a60d613dcf
+size 934823
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9719/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9719/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8f1df6ad23b4645a0d12da73ffa30486d36ac445
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9719/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea19ed99d6d17bdba3fc9763bce0335d98df881c29fc5b1a236f8d9936f28404
+size 937636
diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9958/trajectories_batch_1_of_1.h5 b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9958/trajectories_batch_1_of_1.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e201efa8363a83392102e7dac55347ff1d0fb609
--- /dev/null
+++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9958/trajectories_batch_1_of_1.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5254043acba223c8425cb319b8be0351d175138426844f537b1f955b19dc8640
+size 921687
diff --git a/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log b/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log
new file mode 100644
index 0000000000000000000000000000000000000000..33e81a3b0ced2428101b136df72aad0095845e0a
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log
@@ -0,0 +1,2746 @@
+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 111 houses with 2 episodes each (222 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_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/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': [154,
+                                        175,
+                                        250,
+                                        294,
+                                        341,
+                                        393,
+                                        461,
+                                        482,
+                                        503,
+                                        525,
+                                        1029,
+                                        1065,
+                                        1112,
+                                        1149,
+                                        1177,
+                                        1226,
+                                        1282,
+                                        1357,
+                                        1399,
+                                        1438,
+                                        1517,
+                                        1555,
+                                        1603,
+                                        1633,
+                                        1676,
+                                        1735,
+                                        1778,
+                                        1797,
+                                        1839,
+                                        1874,
+                                        1921,
+                                        1981,
+                                        2056,
+                                        2116,
+                                        2141,
+                                        2171,
+                                        2203,
+                                        2239,
+                                        2291,
+                                        2328,
+                                        2374,
+                                        2412,
+                                        2432,
+                                        2457,
+                                        2495,
+                                        2546,
+                                        2591,
+                                        2605,
+                                        2638,
+                                        2709,
+                                        2756,
+                                        2792,
+                                        2858,
+                                        2933,
+                                        2935,
+                                        2997,
+                                        3076,
+                                        3123,
+                                        3186,
+                                        3272,
+                                        3303,
+                                        3322,
+                                        3361,
+                                        3426,
+                                        3435,
+                                        3472,
+                                        3503,
+                                        3542,
+                                        3588,
+                                        3629,
+                                        3670,
+                                        3742,
+                                        3776,
+                                        3841,
+                                        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'}	[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 154 (index 0/111)	[pipeline.py: 473]
+05/25 10:25:33 INFO: [Worker 0] Loaded 1 episodes for house 154 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	[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 10:25:47 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/55bd2652583048adb5f261974f28b134	[json_eval_task_sampler.py: 648]
+05/25 10:25:47 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_26	[json_eval_task_sampler.py: 648]
+05/25 10:25:47 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/af624cab76c04bec86f0c928207797d8	[json_eval_task_sampler.py: 648]
+05/25 10:25:47 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/25 10:25:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_154_ceiling.xml	[task_sampler.py: 797]
+05/25 10:25:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=154, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 10:25:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 10:25:53 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects	[json_eval_task_sampler.py: 686]
+05/25 10:25:53 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 10:25:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 10:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 10:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 10:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 10:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 10:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 10:25:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 10:25:53 INFO: [Worker 0] Sampled task 'Pick up the yellow fountain pen with cap and place it in or on the gray bowl'	[task_sampler.py: 1136]
+05/25 10:25:53 INFO: [Worker 0] Worker 0 house 154 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 10:25:53 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 10:25:53 WARNING: [Worker 0] Could not find object objapocketwatch_6fa91631177741b1949a4823b21c75bf_1_0_5 in scene	[object_manager.py: 1238]
+05/25 10:25:53 WARNING: [Worker 0] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_5 in scene	[object_manager.py: 1238]
+05/25 10:26:20 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 10:33:15 INFO: [Worker 0] Worker 0 house 154 episode 0 object objafountainpen_2877301eda684d2183ca24eaec21cee0_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 10:33:21 INFO: [Worker 0] Batching and saving trajectory data for house_154: 1 episodes	[pipeline.py: 233]
+05/25 10:33:21 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 10:33:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 10:33:25 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_154	[save_utils.py: 703]
+05/25 10:33:25 INFO: [Worker 0] Successfully saved trajectory data for house_154 in 4.21s (batch: 3.99s, save: 0.21s)	[pipeline.py: 280]
+05/25 10:33:26 WARNING: [Worker 0] No trajectory data to save for house_154	[pipeline.py: 229]
+05/25 10:33:26 INFO: [Worker 0] Worker 0 completed house 154: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 10:33:26 INFO: [Worker 0] Worker 0 starting house 175 (index 1/111)	[pipeline.py: 473]
+05/25 10:33:26 INFO: [Worker 0] Loaded 2 episodes for house 175 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	[json_eval_runner.py: 278]
+05/25 10:33:26 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 10:33:30 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/591a76b35b094562b9dec8ffa5b77387	[json_eval_task_sampler.py: 648]
+05/25 10:33:30 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/27dd012c10e64049b8ca900fe86f077f	[json_eval_task_sampler.py: 648]
+05/25 10:33:30 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/659e6917a5b145fc88b46882fde3764d	[json_eval_task_sampler.py: 648]
+05/25 10:33:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_175_ceiling.xml	[task_sampler.py: 797]
+05/25 10:33:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=175, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 10:33:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 10:33:36 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects	[json_eval_task_sampler.py: 686]
+05/25 10:33:36 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 10:33:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 10:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 10:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 10:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 10:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 10:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 10:33:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 10:33:36 INFO: [Worker 0] Sampled task 'Pick up the newspaper paper boat and place it in or on the white ceramic bowl with chicken salad'	[task_sampler.py: 1136]
+05/25 10:33:36 INFO: [Worker 0] Worker 0 house 175 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 10:33:37 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 10:40:46 INFO: [Worker 0] Worker 0 house 175 episode 0 object objapaperboat_e7ea8f4837354f6da7e4c4c9ee986ff1_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 10:40:51 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 10:40:54 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/591a76b35b094562b9dec8ffa5b77387	[json_eval_task_sampler.py: 648]
+05/25 10:40:54 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/27dd012c10e64049b8ca900fe86f077f	[json_eval_task_sampler.py: 648]
+05/25 10:40:54 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/659e6917a5b145fc88b46882fde3764d	[json_eval_task_sampler.py: 648]
+05/25 10:40:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_175_ceiling.xml	[task_sampler.py: 797]
+05/25 10:40:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=175, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 10:40:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 10:40:59 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects	[json_eval_task_sampler.py: 686]
+05/25 10:40:59 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 10:40:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 10:40:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 10:40:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 10:40:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 10:40:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 10:40:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 10:40:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 10:40:59 INFO: [Worker 0] Sampled task 'Pick up the ornate bronze medallion with design and place it in or on the platter'	[task_sampler.py: 1136]
+05/25 10:40:59 INFO: [Worker 0] Worker 0 house 175 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 10:40:59 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 10:41:01 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 10:47:13 INFO: [Worker 0] Worker 0 house 175 episode 1 object objamedallion_de9cffc6f2d740bf822965b56e65eb8d_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 10:47:18 INFO: [Worker 0] Batching and saving trajectory data for house_175: 2 episodes	[pipeline.py: 233]
+05/25 10:47:18 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 10:47:22 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 10:47:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 10:47:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 10:47:25 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_175	[save_utils.py: 703]
+05/25 10:47:25 INFO: [Worker 0] Successfully saved trajectory data for house_175 in 7.08s (batch: 6.76s, save: 0.31s)	[pipeline.py: 280]
+05/25 10:47:26 WARNING: [Worker 0] No trajectory data to save for house_175	[pipeline.py: 229]
+05/25 10:47:26 INFO: [Worker 0] Worker 0 completed house 175: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 10:47:26 INFO: [Worker 0] Worker 0 starting house 250 (index 2/111)	[pipeline.py: 473]
+05/25 10:47:26 INFO: [Worker 0] Loaded 1 episodes for house 250 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	[json_eval_runner.py: 278]
+05/25 10:47:26 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 10:47:29 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/65e992e1326c4615bdada49b02005e16	[json_eval_task_sampler.py: 648]
+05/25 10:47:29 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2b2f2afe691143b1a0d9c56141b028f9	[json_eval_task_sampler.py: 648]
+05/25 10:47:29 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/cbb67bbbe42e42189931574ce0d4926d	[json_eval_task_sampler.py: 648]
+05/25 10:47:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_250_ceiling.xml	[task_sampler.py: 797]
+05/25 10:47:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=250, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 10:47:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 10:47:33 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects	[json_eval_task_sampler.py: 686]
+05/25 10:47:33 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 10:47:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 10:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 10:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 10:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 10:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 10:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 10:47:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 10:47:33 INFO: [Worker 0] Sampled task 'Pick up the pulp-free orange juice carton and place it in or on the leaf-shaped gray dish'	[task_sampler.py: 1136]
+05/25 10:47:33 INFO: [Worker 0] Worker 0 house 250 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 10:47:34 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 10:53:50 INFO: [Worker 0] Worker 0 house 250 episode 0 object objabeveragecarton_61219208844744ada5df6dadcb876a3d_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 10:53:55 INFO: [Worker 0] Batching and saving trajectory data for house_250: 1 episodes	[pipeline.py: 233]
+05/25 10:53:55 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 10:53:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 10:53:59 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_250	[save_utils.py: 703]
+05/25 10:53:59 INFO: [Worker 0] Successfully saved trajectory data for house_250 in 4.13s (batch: 3.85s, save: 0.29s)	[pipeline.py: 280]
+05/25 10:54:00 WARNING: [Worker 0] No trajectory data to save for house_250	[pipeline.py: 229]
+05/25 10:54:00 INFO: [Worker 0] Worker 0 completed house 250: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 10:54:00 INFO: [Worker 0] Worker 0 starting house 294 (index 3/111)	[pipeline.py: 473]
+05/25 10:54:00 INFO: [Worker 0] Loaded 1 episodes for house 294 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	[json_eval_runner.py: 278]
+05/25 10:54:00 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]
+05/25 10:54:00 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d318587cfc624b18b52a3a7fb7124373	[json_eval_task_sampler.py: 648]
+05/25 10:54:00 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/42f50ecee3da4df498c0e1b4319366a4	[json_eval_task_sampler.py: 648]
+05/25 10:54:01 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/423c9b6a27254a00aa283647a7e9b1ba	[json_eval_task_sampler.py: 648]
+05/25 10:54:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_294_ceiling.xml	[task_sampler.py: 797]
+05/25 10:54:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=294, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 10:54:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 10:54:03 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects	[json_eval_task_sampler.py: 686]
+05/25 10:54:03 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 10:54:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 10:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 10:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 10:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 10:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 10:54:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 10:54:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 10:54:03 INFO: [Worker 0] Sampled task 'Pick up the servicebell and place it in or on the bright insect design bowl'	[task_sampler.py: 1136]
+05/25 10:54:03 INFO: [Worker 0] Worker 0 house 294 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 10:54:03 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 10:54:05 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 10:58:54 INFO: [Worker 0] Worker 0 house 294 episode 0 object objaservicebell_fc203fd849ea46f0b84d4843ba1aafcd_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 10:58:59 INFO: [Worker 0] Batching and saving trajectory data for house_294: 1 episodes	[pipeline.py: 233]
+05/25 10:58:59 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 10:59:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 10:59:02 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_294	[save_utils.py: 703]
+05/25 10:59:02 INFO: [Worker 0] Successfully saved trajectory data for house_294 in 3.39s (batch: 3.18s, save: 0.20s)	[pipeline.py: 280]
+05/25 10:59:03 WARNING: [Worker 0] No trajectory data to save for house_294	[pipeline.py: 229]
+05/25 10:59:03 INFO: [Worker 0] Worker 0 completed house 294: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 10:59:03 INFO: [Worker 0] Worker 0 starting house 341 (index 4/111)	[pipeline.py: 473]
+05/25 10:59:03 INFO: [Worker 0] Loaded 1 episodes for house 341 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	[json_eval_runner.py: 278]
+05/25 10:59:03 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 10:59:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/c2bd80794a3947238fe610f5733be9d2	[json_eval_task_sampler.py: 648]
+05/25 10:59:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/591a76b35b094562b9dec8ffa5b77387	[json_eval_task_sampler.py: 648]
+05/25 10:59:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/3b145885d881488887d90a98b3cde06f	[json_eval_task_sampler.py: 648]
+05/25 10:59:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_341_ceiling.xml	[task_sampler.py: 797]
+05/25 10:59:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=341, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 10:59:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 10:59:09 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects	[json_eval_task_sampler.py: 686]
+05/25 10:59:09 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 10:59:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 10:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 10:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 10:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 10:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 10:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 10:59:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 10:59:09 INFO: [Worker 0] Sampled task 'Pick up the smooth white bowl and place it in or on the rugged textured gray rustic bowl'	[task_sampler.py: 1136]
+05/25 10:59:09 INFO: [Worker 0] Worker 0 house 341 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 10:59:09 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 10:59:12 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 11:07:05 INFO: [Worker 0] Worker 0 house 341 episode 0 object bowl_f159d8f5528715d01c1bddd6ef86dbcb_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 11:07:10 INFO: [Worker 0] Batching and saving trajectory data for house_341: 1 episodes	[pipeline.py: 233]
+05/25 11:07:10 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:07:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:07:14 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_341	[save_utils.py: 703]
+05/25 11:07:14 INFO: [Worker 0] Successfully saved trajectory data for house_341 in 4.09s (batch: 3.90s, save: 0.19s)	[pipeline.py: 280]
+05/25 11:07:15 WARNING: [Worker 0] No trajectory data to save for house_341	[pipeline.py: 229]
+05/25 11:07:15 INFO: [Worker 0] Worker 0 completed house 341: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:07:15 INFO: [Worker 0] Worker 0 starting house 393 (index 5/111)	[pipeline.py: 473]
+05/25 11:07:15 INFO: [Worker 0] Loaded 1 episodes for house 393 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	[json_eval_runner.py: 278]
+05/25 11:07:15 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]
+05/25 11:07:15 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/fdfd829fe39049a69f6df2289b29dc7f	[json_eval_task_sampler.py: 648]
+05/25 11:07:15 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/f42af504c27649c78412bafd25665e46	[json_eval_task_sampler.py: 648]
+05/25 11:07:15 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/836b48b21dcb4842a208c66f106abf18	[json_eval_task_sampler.py: 648]
+05/25 11:07:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_393_ceiling.xml	[task_sampler.py: 797]
+05/25 11:07:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=393, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:07:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:07:17 INFO: [Worker 0] randomize_scene: Setting poses for 13 objects	[json_eval_task_sampler.py: 686]
+05/25 11:07:17 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:07:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:07:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:07:17 INFO: [Worker 0] Sampled task 'Pick up the modern teal white electric iron and place it in or on the rectangular vintage metal storage tin'	[task_sampler.py: 1136]
+05/25 11:07:17 INFO: [Worker 0] Worker 0 house 393 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:07:17 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:07:19 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 11:13:44 INFO: [Worker 0] Worker 0 house 393 episode 0 object objasteamiron_77d38baf87d44ce3a2f0a14df79f9a79_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 11:13:49 INFO: [Worker 0] Batching and saving trajectory data for house_393: 1 episodes	[pipeline.py: 233]
+05/25 11:13:49 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:13:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:13:53 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_393	[save_utils.py: 703]
+05/25 11:13:53 INFO: [Worker 0] Successfully saved trajectory data for house_393 in 4.36s (batch: 4.16s, save: 0.21s)	[pipeline.py: 280]
+05/25 11:13:54 WARNING: [Worker 0] No trajectory data to save for house_393	[pipeline.py: 229]
+05/25 11:13:54 INFO: [Worker 0] Worker 0 completed house 393: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:13:54 INFO: [Worker 0] Worker 0 starting house 461 (index 6/111)	[pipeline.py: 473]
+05/25 11:13:54 INFO: [Worker 0] Loaded 1 episodes for house 461 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	[json_eval_runner.py: 278]
+05/25 11:13:54 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 11:13:58 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/76d1dd1d3f874897b4a630216570d49d	[json_eval_task_sampler.py: 648]
+05/25 11:13:58 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c44ac768e7304df58ebf13ba4c6eed11	[json_eval_task_sampler.py: 648]
+05/25 11:13:58 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_14	[json_eval_task_sampler.py: 648]
+05/25 11:14:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_461_ceiling.xml	[task_sampler.py: 797]
+05/25 11:14:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=461, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:14:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:14:05 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects	[json_eval_task_sampler.py: 686]
+05/25 11:14:05 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:14:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:14:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:14:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:14:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:14:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:14:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:14:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:14:05 INFO: [Worker 0] Sampled task 'Pick up the modern teal white electric iron and place it in or on the white ceramic mug with ming'	[task_sampler.py: 1136]
+05/25 11:14:05 INFO: [Worker 0] Worker 0 house 461 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:14:05 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:14:06 WARNING: [Worker 0] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_3 in scene	[object_manager.py: 1238]
+05/25 11:14:06 WARNING: [Worker 0] Could not find object objadecorativekey_02f4ae923e5b4aa7bf0d338cf7423ef7_1_0_3 in scene	[object_manager.py: 1238]
+05/25 11:14:08 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 11:20:48 INFO: [Worker 0] Worker 0 house 461 episode 0 object objasteamiron_77d38baf87d44ce3a2f0a14df79f9a79_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 11:20:53 INFO: [Worker 0] Batching and saving trajectory data for house_461: 1 episodes	[pipeline.py: 233]
+05/25 11:20:53 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:20:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:20:57 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_461	[save_utils.py: 703]
+05/25 11:20:57 INFO: [Worker 0] Successfully saved trajectory data for house_461 in 4.37s (batch: 4.09s, save: 0.27s)	[pipeline.py: 280]
+05/25 11:20:58 WARNING: [Worker 0] No trajectory data to save for house_461	[pipeline.py: 229]
+05/25 11:20:58 INFO: [Worker 0] Worker 0 completed house 461: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:20:58 INFO: [Worker 0] Worker 0 starting house 482 (index 7/111)	[pipeline.py: 473]
+05/25 11:20:58 INFO: [Worker 0] Loaded 2 episodes for house 482 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	[json_eval_runner.py: 278]
+05/25 11:20:58 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 11:21:00 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9e167f4b5fcd446e8ff3c4ca5b257286	[json_eval_task_sampler.py: 648]
+05/25 11:21:00 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_26	[json_eval_task_sampler.py: 648]
+05/25 11:21:00 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/27dd012c10e64049b8ca900fe86f077f	[json_eval_task_sampler.py: 648]
+05/25 11:21:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_482_ceiling.xml	[task_sampler.py: 797]
+05/25 11:21:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=482, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:21:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:21:03 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects	[json_eval_task_sampler.py: 686]
+05/25 11:21:03 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:21:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:21:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:21:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:21:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:21:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:21:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:21:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:21:04 INFO: [Worker 0] Sampled task 'Pick up the blocky pixelated green soldier and place it in or on the gray bowl'	[task_sampler.py: 1136]
+05/25 11:21:04 INFO: [Worker 0] Worker 0 house 482 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 11:21:04 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:21:06 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 11:28:20 INFO: [Worker 0] Worker 0 house 482 episode 0 object objatoysoldier_8f055c6314cd4e6cb1f4236d145f5179_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 11:28:25 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 11:28:27 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9e167f4b5fcd446e8ff3c4ca5b257286	[json_eval_task_sampler.py: 648]
+05/25 11:28:27 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_26	[json_eval_task_sampler.py: 648]
+05/25 11:28:27 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/27dd012c10e64049b8ca900fe86f077f	[json_eval_task_sampler.py: 648]
+05/25 11:28:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_482_ceiling.xml	[task_sampler.py: 797]
+05/25 11:28:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=482, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:28:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:28:31 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects	[json_eval_task_sampler.py: 686]
+05/25 11:28:31 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:28:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:28:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:28:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:28:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:28:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:28:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:28:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:28:31 INFO: [Worker 0] Sampled task 'Pick up the black device and place it in or on the white ceramic bowl with food'	[task_sampler.py: 1136]
+05/25 11:28:31 INFO: [Worker 0] Worker 0 house 482 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 11:28:31 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:28:33 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 11:33:07 INFO: [Worker 0] Worker 0 house 482 episode 1 object objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_1_0_7 completed with success=True	[pipeline.py: 1114]
+05/25 11:33:13 INFO: [Worker 0] Batching and saving trajectory data for house_482: 2 episodes	[pipeline.py: 233]
+05/25 11:33:13 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:33:17 INFO: [Worker 0] Preparing episode data: 253 timesteps	[save_utils.py: 284]
+05/25 11:33:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:33:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:33:21 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_482	[save_utils.py: 703]
+05/25 11:33:21 INFO: [Worker 0] Successfully saved trajectory data for house_482 in 8.03s (batch: 7.76s, save: 0.27s)	[pipeline.py: 280]
+05/25 11:33:22 WARNING: [Worker 0] No trajectory data to save for house_482	[pipeline.py: 229]
+05/25 11:33:22 INFO: [Worker 0] Worker 0 completed house 482: 1/2 successful episodes	[pipeline.py: 1243]
+05/25 11:33:22 INFO: [Worker 0] Worker 0 starting house 503 (index 8/111)	[pipeline.py: 473]
+05/25 11:33:22 INFO: [Worker 0] Loaded 1 episodes for house 503 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	[json_eval_runner.py: 278]
+05/25 11:33:22 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 11:33:23 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f9561598da77463f9eb6fecd4bc301b5	[json_eval_task_sampler.py: 648]
+05/25 11:33:23 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_13	[json_eval_task_sampler.py: 648]
+05/25 11:33:23 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/8c419f6d0cbc4580a2e2b9d273969b97	[json_eval_task_sampler.py: 648]
+05/25 11:33:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_503_ceiling.xml	[task_sampler.py: 797]
+05/25 11:33:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=503, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:33:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:33:27 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects	[json_eval_task_sampler.py: 686]
+05/25 11:33:27 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:33:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:33:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:33:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:33:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:33:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:33:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:33:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:33:27 INFO: [Worker 0] Sampled task 'Pick up the tall transparent ridged cylindrical cup and place it in or on the handmade rustic clay bowl'	[task_sampler.py: 1136]
+05/25 11:33:27 INFO: [Worker 0] Worker 0 house 503 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:33:27 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:33:28 WARNING: [Worker 0] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_3 in scene	[object_manager.py: 1238]
+05/25 11:37:37 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 11:43:46 INFO: [Worker 0] Worker 0 house 503 episode 0 object cup_19179e3c59682f880307665816f25775_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 11:43:51 INFO: [Worker 0] Batching and saving trajectory data for house_503: 1 episodes	[pipeline.py: 233]
+05/25 11:43:51 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:43:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:43:55 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_503	[save_utils.py: 703]
+05/25 11:43:55 INFO: [Worker 0] Successfully saved trajectory data for house_503 in 4.13s (batch: 3.93s, save: 0.21s)	[pipeline.py: 280]
+05/25 11:43:56 WARNING: [Worker 0] No trajectory data to save for house_503	[pipeline.py: 229]
+05/25 11:43:56 INFO: [Worker 0] Worker 0 completed house 503: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:43:56 INFO: [Worker 0] Worker 0 starting house 525 (index 9/111)	[pipeline.py: 473]
+05/25 11:43:56 INFO: [Worker 0] Loaded 1 episodes for house 525 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	[json_eval_runner.py: 278]
+05/25 11:43:56 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 11:44:00 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/42f50ecee3da4df498c0e1b4319366a4	[json_eval_task_sampler.py: 648]
+05/25 11:44:00 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_30	[json_eval_task_sampler.py: 648]
+05/25 11:44:00 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e11475635c464216a2213d65c45a319a	[json_eval_task_sampler.py: 648]
+05/25 11:44:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_525_ceiling.xml	[task_sampler.py: 797]
+05/25 11:44:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=525, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:44:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:44:05 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects	[json_eval_task_sampler.py: 686]
+05/25 11:44:05 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:44:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:44:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:44:05 INFO: [Worker 0] Sampled task 'Pick up the realistic pink and white dentures and place it in or on the translucent smooth glass conical bowl'	[task_sampler.py: 1136]
+05/25 11:44:05 INFO: [Worker 0] Worker 0 house 525 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:44:05 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:44:05 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene	[object_manager.py: 1238]
+05/25 11:44:08 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 11:49:32 INFO: [Worker 0] Worker 0 house 525 episode 0 object objadentures_9f8a86701e5549c6bf6004b4f58bdd31_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 11:49:37 INFO: [Worker 0] Batching and saving trajectory data for house_525: 1 episodes	[pipeline.py: 233]
+05/25 11:49:37 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:49:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:49:40 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_525	[save_utils.py: 703]
+05/25 11:49:40 INFO: [Worker 0] Successfully saved trajectory data for house_525 in 3.58s (batch: 3.42s, save: 0.16s)	[pipeline.py: 280]
+05/25 11:49:41 WARNING: [Worker 0] No trajectory data to save for house_525	[pipeline.py: 229]
+05/25 11:49:41 INFO: [Worker 0] Worker 0 completed house 525: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:49:41 INFO: [Worker 0] Worker 0 starting house 1029 (index 10/111)	[pipeline.py: 473]
+05/25 11:49:41 INFO: [Worker 0] Loaded 1 episodes for house 1029 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	[json_eval_runner.py: 278]
+05/25 11:49:41 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]
+05/25 11:49:42 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a5cb193f76ec4158b6e2fc655fa4ba92	[json_eval_task_sampler.py: 648]
+05/25 11:49:42 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_13	[json_eval_task_sampler.py: 648]
+05/25 11:49:42 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/3b145885d881488887d90a98b3cde06f	[json_eval_task_sampler.py: 648]
+05/25 11:49:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1029_ceiling.xml	[task_sampler.py: 797]
+05/25 11:49:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1029, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:49:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:49:46 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects	[json_eval_task_sampler.py: 686]
+05/25 11:49:46 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:49:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:49:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:49:46 INFO: [Worker 0] Sampled task 'Pick up the purple rectangular packet with cupcake image and place it in or on the small round brown ceramic bowl'	[task_sampler.py: 1136]
+05/25 11:49:46 INFO: [Worker 0] Worker 0 house 1029 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:49:46 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:49:48 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 11:56:16 INFO: [Worker 0] Worker 0 house 1029 episode 0 object objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_2_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 11:56:19 INFO: [Worker 0] Batching and saving trajectory data for house_1029: 1 episodes	[pipeline.py: 233]
+05/25 11:56:19 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:56:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:56:22 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1029	[save_utils.py: 703]
+05/25 11:56:22 INFO: [Worker 0] Successfully saved trajectory data for house_1029 in 2.75s (batch: 2.63s, save: 0.11s)	[pipeline.py: 280]
+05/25 11:56:23 WARNING: [Worker 0] No trajectory data to save for house_1029	[pipeline.py: 229]
+05/25 11:56:23 INFO: [Worker 0] Worker 0 completed house 1029: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:56:23 INFO: [Worker 0] Worker 0 starting house 1065 (index 11/111)	[pipeline.py: 473]
+05/25 11:56:23 INFO: [Worker 0] Loaded 1 episodes for house 1065 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	[json_eval_runner.py: 278]
+05/25 11:56:23 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 11:56:24 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/292913530b1c41709ffc8685fbb9d55a	[json_eval_task_sampler.py: 648]
+05/25 11:56:24 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b88a0160da29481fb7866fda93457fe3	[json_eval_task_sampler.py: 648]
+05/25 11:56:24 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d02ed62181d942fc9a1527b49bc67b17	[json_eval_task_sampler.py: 648]
+05/25 11:56:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1065_ceiling.xml	[task_sampler.py: 797]
+05/25 11:56:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1065, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:56:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:56:28 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects	[json_eval_task_sampler.py: 686]
+05/25 11:56:28 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:56:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:56:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:56:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:56:28 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:56:28 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:56:28 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:56:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:56:28 INFO: [Worker 0] Sampled task 'Pick up the small glossy turquoise eye of horus amulet and place it in or on the rectangular ornate red box'	[task_sampler.py: 1136]
+05/25 11:56:28 INFO: [Worker 0] Worker 0 house 1065 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:56:28 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:56:29 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 12:01:55 INFO: [Worker 0] Worker 0 house 1065 episode 0 object objaamulet_7300d219ed944585ace4b2509bef4f6e_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 12:02:00 INFO: [Worker 0] Batching and saving trajectory data for house_1065: 1 episodes	[pipeline.py: 233]
+05/25 12:02:00 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:02:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:02:04 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1065	[save_utils.py: 703]
+05/25 12:02:04 INFO: [Worker 0] Successfully saved trajectory data for house_1065 in 3.97s (batch: 3.75s, save: 0.23s)	[pipeline.py: 280]
+05/25 12:02:05 WARNING: [Worker 0] No trajectory data to save for house_1065	[pipeline.py: 229]
+05/25 12:02:05 INFO: [Worker 0] Worker 0 completed house 1065: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:02:05 INFO: [Worker 0] Worker 0 starting house 1112 (index 12/111)	[pipeline.py: 473]
+05/25 12:02:05 INFO: [Worker 0] Loaded 1 episodes for house 1112 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	[json_eval_runner.py: 278]
+05/25 12:02:05 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 12:02:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_5	[json_eval_task_sampler.py: 648]
+05/25 12:02:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5fa7101ca3744068ae84b30dbf0a9240	[json_eval_task_sampler.py: 648]
+05/25 12:02:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ac3628478f6c4042a16e77d6753fa413	[json_eval_task_sampler.py: 648]
+05/25 12:02:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1112_ceiling.xml	[task_sampler.py: 797]
+05/25 12:02:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1112, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:02:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:02:14 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects	[json_eval_task_sampler.py: 686]
+05/25 12:02:14 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:02:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:02:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:02:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:02:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:02:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:02:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:02:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:02:14 INFO: [Worker 0] Sampled task 'Pick up the metal medallion with crown and place it in or on the medium glossy white ceramic bowl'	[task_sampler.py: 1136]
+05/25 12:02:14 INFO: [Worker 0] Worker 0 house 1112 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:02:15 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:02:15 WARNING: [Worker 0] Could not find object objadecorativepanel_84c1fb3b7b2d41c5883350e73ceade92_1_0_5 in scene	[object_manager.py: 1238]
+05/25 12:02:15 WARNING: [Worker 0] Could not find object statue_1792843e3d4f46b56db17d18b4c1ab2c_1_0_6 in scene	[object_manager.py: 1238]
+05/25 12:04:58 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 12:10:41 INFO: [Worker 0] Worker 0 house 1112 episode 0 object objamedallion_0f1a85c550fb433bb28c10f4e740d7d1_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 12:10:46 INFO: [Worker 0] Batching and saving trajectory data for house_1112: 1 episodes	[pipeline.py: 233]
+05/25 12:10:46 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:10:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:10:49 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1112	[save_utils.py: 703]
+05/25 12:10:49 INFO: [Worker 0] Successfully saved trajectory data for house_1112 in 3.04s (batch: 2.92s, save: 0.11s)	[pipeline.py: 280]
+05/25 12:10:49 WARNING: [Worker 0] No trajectory data to save for house_1112	[pipeline.py: 229]
+05/25 12:10:49 INFO: [Worker 0] Worker 0 completed house 1112: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:10:49 INFO: [Worker 0] Worker 0 starting house 1149 (index 13/111)	[pipeline.py: 473]
+05/25 12:10:49 INFO: [Worker 0] Loaded 1 episodes for house 1149 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	[json_eval_runner.py: 278]
+05/25 12:10:49 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 12:10:50 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_6	[json_eval_task_sampler.py: 648]
+05/25 12:10:50 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/65e992e1326c4615bdada49b02005e16	[json_eval_task_sampler.py: 648]
+05/25 12:10:50 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/5f6ab8152ec9440e9b922def5ae8b8b2	[json_eval_task_sampler.py: 648]
+05/25 12:10:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1149_ceiling.xml	[task_sampler.py: 797]
+05/25 12:10:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1149, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:10:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:10:52 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects	[json_eval_task_sampler.py: 686]
+05/25 12:10:52 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:10:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:10:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:10:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:10:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:10:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:10:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:10:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:10:52 INFO: [Worker 0] Sampled task 'Pick up the blue digital clock and place it in or on the rustic gray stone bowl'	[task_sampler.py: 1136]
+05/25 12:10:52 INFO: [Worker 0] Worker 0 house 1149 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:10:52 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:15:45 INFO: [Worker 0] Worker 0 house 1149 episode 0 object alarmclock_85647c60207a07a17bbd65025ae5d72c_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 12:15:49 INFO: [Worker 0] Batching and saving trajectory data for house_1149: 1 episodes	[pipeline.py: 233]
+05/25 12:15:49 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:15:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:15:52 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1149	[save_utils.py: 703]
+05/25 12:15:52 INFO: [Worker 0] Successfully saved trajectory data for house_1149 in 2.91s (batch: 2.76s, save: 0.15s)	[pipeline.py: 280]
+05/25 12:15:53 WARNING: [Worker 0] No trajectory data to save for house_1149	[pipeline.py: 229]
+05/25 12:15:53 INFO: [Worker 0] Worker 0 completed house 1149: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:15:53 INFO: [Worker 0] Worker 0 starting house 1177 (index 14/111)	[pipeline.py: 473]
+05/25 12:15:53 INFO: [Worker 0] Loaded 2 episodes for house 1177 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	[json_eval_runner.py: 278]
+05/25 12:15:53 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 12:15:54 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1e23d9b649a643528ce00de750e858de	[json_eval_task_sampler.py: 648]
+05/25 12:15:54 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_19	[json_eval_task_sampler.py: 648]
+05/25 12:15:54 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7b3bfdab414148a08cbf46fc105e280a	[json_eval_task_sampler.py: 648]
+05/25 12:15:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1177_ceiling.xml	[task_sampler.py: 797]
+05/25 12:15:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1177, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:15:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:15:56 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects	[json_eval_task_sampler.py: 686]
+05/25 12:15:56 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:15:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:15:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:15:56 INFO: [Worker 0] Sampled task 'Pick up the reflective crumpled metallic foil piece and place it in or on the rustic round ceramic bowl with patterns'	[task_sampler.py: 1136]
+05/25 12:15:56 INFO: [Worker 0] Worker 0 house 1177 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 12:15:56 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:20:25 INFO: [Worker 0] Worker 0 house 1177 episode 0 object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 12:20:29 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 12:20:30 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1e23d9b649a643528ce00de750e858de	[json_eval_task_sampler.py: 648]
+05/25 12:20:30 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_19	[json_eval_task_sampler.py: 648]
+05/25 12:20:30 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7b3bfdab414148a08cbf46fc105e280a	[json_eval_task_sampler.py: 648]
+05/25 12:20:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1177_ceiling.xml	[task_sampler.py: 797]
+05/25 12:20:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1177, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:20:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:20:32 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects	[json_eval_task_sampler.py: 686]
+05/25 12:20:32 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:20:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:20:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:20:32 INFO: [Worker 0] Sampled task 'Pick up the gray butterfly with geometric patterns and place it in or on the textured ceramic rustic bowl'	[task_sampler.py: 1136]
+05/25 12:20:32 INFO: [Worker 0] Worker 0 house 1177 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 12:20:32 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:20:33 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 12:25:09 INFO: [Worker 0] Worker 0 house 1177 episode 1 object objadecorativebutterfly_26587b743d2b460a865df2a69f4692d9_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 12:25:14 INFO: [Worker 0] Batching and saving trajectory data for house_1177: 2 episodes	[pipeline.py: 233]
+05/25 12:25:14 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:25:18 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:25:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:25:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:25:22 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1177	[save_utils.py: 703]
+05/25 12:25:22 INFO: [Worker 0] Successfully saved trajectory data for house_1177 in 7.87s (batch: 7.53s, save: 0.34s)	[pipeline.py: 280]
+05/25 12:25:23 WARNING: [Worker 0] No trajectory data to save for house_1177	[pipeline.py: 229]
+05/25 12:25:23 INFO: [Worker 0] Worker 0 completed house 1177: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 12:25:23 INFO: [Worker 0] Worker 0 starting house 1226 (index 15/111)	[pipeline.py: 473]
+05/25 12:25:23 INFO: [Worker 0] Loaded 1 episodes for house 1226 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	[json_eval_runner.py: 278]
+05/25 12:25:23 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 12:25:24 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0aab5f2a6f744c13bffef0fccf53c0e0	[json_eval_task_sampler.py: 648]
+05/25 12:25:24 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d50f554707f24584b988e2feea162cc5	[json_eval_task_sampler.py: 648]
+05/25 12:25:24 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/42f50ecee3da4df498c0e1b4319366a4	[json_eval_task_sampler.py: 648]
+05/25 12:25:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1226_ceiling.xml	[task_sampler.py: 797]
+05/25 12:25:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1226, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:25:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:25:27 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects	[json_eval_task_sampler.py: 686]
+05/25 12:25:27 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:25:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:25:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:25:27 INFO: [Worker 0] Sampled task 'Pick up the red pink layered flower and place it in or on the asymmetrical ceramic bowl with blue-green glaze'	[task_sampler.py: 1136]
+05/25 12:25:27 INFO: [Worker 0] Worker 0 house 1226 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:25:27 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:25:30 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 12:36:41 INFO: [Worker 0] Worker 0 house 1226 episode 0 object objaartificialflower_bd9f2339df094e238ee1b70cf51a5954_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 12:36:47 INFO: [Worker 0] Batching and saving trajectory data for house_1226: 1 episodes	[pipeline.py: 233]
+05/25 12:36:48 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:36:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:36:52 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1226	[save_utils.py: 703]
+05/25 12:36:52 INFO: [Worker 0] Successfully saved trajectory data for house_1226 in 4.41s (batch: 4.23s, save: 0.17s)	[pipeline.py: 280]
+05/25 12:36:53 WARNING: [Worker 0] No trajectory data to save for house_1226	[pipeline.py: 229]
+05/25 12:36:53 INFO: [Worker 0] Worker 0 completed house 1226: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:36:53 INFO: [Worker 0] Worker 0 starting house 1282 (index 16/111)	[pipeline.py: 473]
+05/25 12:36:53 INFO: [Worker 0] Loaded 1 episodes for house 1282 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	[json_eval_runner.py: 278]
+05/25 12:36:53 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 12:36:57 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/977c0bb0114e4728b7c6ccb89da913ec	[json_eval_task_sampler.py: 648]
+05/25 12:36:57 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5efb7a6940894b5a835b4de2f3cf1559	[json_eval_task_sampler.py: 648]
+05/25 12:36:57 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/01395fa3a8e54abc8c32a016b2d8c5f5	[json_eval_task_sampler.py: 648]
+05/25 12:37:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1282_ceiling.xml	[task_sampler.py: 797]
+05/25 12:37:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1282, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:37:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:37:03 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects	[json_eval_task_sampler.py: 686]
+05/25 12:37:03 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:37:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:37:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:37:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:37:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:37:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:37:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:37:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:37:03 INFO: [Worker 0] Sampled task 'Pick up the toy tank and place it in or on the polygonal bowl with green stripes'	[task_sampler.py: 1136]
+05/25 12:37:03 INFO: [Worker 0] Worker 0 house 1282 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:37:03 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:40:28 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 12:46:36 INFO: [Worker 0] Worker 0 house 1282 episode 0 object objatoytank_3c5adb4d5e424fe3bc2755d2fb7e3416_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 12:46:40 INFO: [Worker 0] Batching and saving trajectory data for house_1282: 1 episodes	[pipeline.py: 233]
+05/25 12:46:40 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:46:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:46:44 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1282	[save_utils.py: 703]
+05/25 12:46:44 INFO: [Worker 0] Successfully saved trajectory data for house_1282 in 3.04s (batch: 2.92s, save: 0.12s)	[pipeline.py: 280]
+05/25 12:46:44 WARNING: [Worker 0] No trajectory data to save for house_1282	[pipeline.py: 229]
+05/25 12:46:44 INFO: [Worker 0] Worker 0 completed house 1282: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:46:44 INFO: [Worker 0] Worker 0 starting house 1357 (index 17/111)	[pipeline.py: 473]
+05/25 12:46:44 INFO: [Worker 0] Loaded 1 episodes for house 1357 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	[json_eval_runner.py: 278]
+05/25 12:46:44 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]
+05/25 12:46:45 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b4f97bfa98234ac58b2991d6ac0a18a9	[json_eval_task_sampler.py: 648]
+05/25 12:46:45 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/65e992e1326c4615bdada49b02005e16	[json_eval_task_sampler.py: 648]
+05/25 12:46:45 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/53c885e05492439cace4cc626fec00cc	[json_eval_task_sampler.py: 648]
+05/25 12:46:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1357_ceiling.xml	[task_sampler.py: 797]
+05/25 12:46:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1357, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:46:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:46:47 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects	[json_eval_task_sampler.py: 686]
+05/25 12:46:47 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:46:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:46:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:46:47 INFO: [Worker 0] Sampled task 'Pick up the black virtual reality headset with cables and place it in or on the rustic gray stone bowl'	[task_sampler.py: 1136]
+05/25 12:46:47 INFO: [Worker 0] Worker 0 house 1357 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:46:47 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:46:47 WARNING: [Worker 0] Could not find object lettuce_57e4a337b9ed97d4bd61cbfd9e2bdfde_1_0_2 in scene	[object_manager.py: 1238]
+05/25 12:52:22 INFO: [Worker 0] Worker 0 house 1357 episode 0 object objavirtualrealityheadset_686f2a4bf0834a208d48dc8f25fb5666_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 12:52:26 INFO: [Worker 0] Batching and saving trajectory data for house_1357: 1 episodes	[pipeline.py: 233]
+05/25 12:52:26 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:52:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:52:30 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1357	[save_utils.py: 703]
+05/25 12:52:30 INFO: [Worker 0] Successfully saved trajectory data for house_1357 in 3.82s (batch: 3.67s, save: 0.15s)	[pipeline.py: 280]
+05/25 12:52:31 WARNING: [Worker 0] No trajectory data to save for house_1357	[pipeline.py: 229]
+05/25 12:52:31 INFO: [Worker 0] Worker 0 completed house 1357: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:52:31 INFO: [Worker 0] Worker 0 starting house 1399 (index 18/111)	[pipeline.py: 473]
+05/25 12:52:31 INFO: [Worker 0] Loaded 2 episodes for house 1399 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	[json_eval_runner.py: 278]
+05/25 12:52:31 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 12:52:34 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0	[json_eval_task_sampler.py: 648]
+05/25 12:52:34 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/292913530b1c41709ffc8685fbb9d55a	[json_eval_task_sampler.py: 648]
+05/25 12:52:34 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/cfe3c9eed1554f59ad7756e27d97c667	[json_eval_task_sampler.py: 648]
+05/25 12:52:34 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 12:52:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1399_ceiling.xml	[task_sampler.py: 797]
+05/25 12:52:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1399, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:52:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:52:40 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects	[json_eval_task_sampler.py: 686]
+05/25 12:52:40 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:52:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:52:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:52:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:52:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:52:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:52:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:52:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:52:40 INFO: [Worker 0] Sampled task 'Pick up the gray square button with robotic and place it in or on the beige ceramic bowl'	[task_sampler.py: 1136]
+05/25 12:52:40 INFO: [Worker 0] Worker 0 house 1399 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 12:52:40 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:52:41 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene	[object_manager.py: 1238]
+05/25 12:52:43 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]
+05/25 13:00:18 INFO: [Worker 0] Worker 0 house 1399 episode 0 object objabutton_797a6f45769d48aa8c719a748b42fab0_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 13:00:22 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 13:00:25 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0	[json_eval_task_sampler.py: 648]
+05/25 13:00:25 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/292913530b1c41709ffc8685fbb9d55a	[json_eval_task_sampler.py: 648]
+05/25 13:00:25 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/cfe3c9eed1554f59ad7756e27d97c667	[json_eval_task_sampler.py: 648]
+05/25 13:00:25 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 13:00:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1399_ceiling.xml	[task_sampler.py: 797]
+05/25 13:00:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1399, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:00:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:00:30 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects	[json_eval_task_sampler.py: 686]
+05/25 13:00:30 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:00:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:00:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:00:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:00:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:00:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:00:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:00:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:00:30 INFO: [Worker 0] Sampled task 'Pick up the marbled knight chess piece horse and place it in or on the red geometric patterned bowl with rim'	[task_sampler.py: 1136]
+05/25 13:00:30 INFO: [Worker 0] Worker 0 house 1399 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 13:00:30 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:00:31 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene	[object_manager.py: 1238]
+05/25 13:00:32 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 13:05:05 INFO: [Worker 0] Worker 0 house 1399 episode 1 object objachesspiece_87f54836993944c2ad092f1c405eed42_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 13:05:09 INFO: [Worker 0] Batching and saving trajectory data for house_1399: 2 episodes	[pipeline.py: 233]
+05/25 13:05:09 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:05:12 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:05:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:05:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:05:16 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1399	[save_utils.py: 703]
+05/25 13:05:16 INFO: [Worker 0] Successfully saved trajectory data for house_1399 in 6.40s (batch: 6.04s, save: 0.36s)	[pipeline.py: 280]
+05/25 13:05:17 WARNING: [Worker 0] No trajectory data to save for house_1399	[pipeline.py: 229]
+05/25 13:05:17 INFO: [Worker 0] Worker 0 completed house 1399: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 13:05:17 INFO: [Worker 0] Worker 0 starting house 1438 (index 19/111)	[pipeline.py: 473]
+05/25 13:05:17 INFO: [Worker 0] Loaded 1 episodes for house 1438 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	[json_eval_runner.py: 278]
+05/25 13:05:17 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 13:05:21 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_4	[json_eval_task_sampler.py: 648]
+05/25 13:05:21 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ce448005340241c8acd2034b72cd09f8	[json_eval_task_sampler.py: 648]
+05/25 13:05:21 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/15607bdf52a64f81a7555de4cfad4029	[json_eval_task_sampler.py: 648]
+05/25 13:05:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1438_ceiling.xml	[task_sampler.py: 797]
+05/25 13:05:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1438, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:05:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:05:26 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects	[json_eval_task_sampler.py: 686]
+05/25 13:05:26 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:05:26 INFO: [Worker 0] Sampled task 'Pick up the dark squeegee and place it in or on the ceramic bowl'	[task_sampler.py: 1136]
+05/25 13:05:26 INFO: [Worker 0] Worker 0 house 1438 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:05:27 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:15:08 INFO: [Worker 0] Worker 0 house 1438 episode 0 object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 13:15:15 INFO: [Worker 0] Batching and saving trajectory data for house_1438: 1 episodes	[pipeline.py: 233]
+05/25 13:15:15 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:15:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:15:21 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1438	[save_utils.py: 703]
+05/25 13:15:21 INFO: [Worker 0] Successfully saved trajectory data for house_1438 in 6.01s (batch: 5.62s, save: 0.39s)	[pipeline.py: 280]
+05/25 13:15:22 WARNING: [Worker 0] No trajectory data to save for house_1438	[pipeline.py: 229]
+05/25 13:15:22 INFO: [Worker 0] Worker 0 completed house 1438: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:15:22 INFO: [Worker 0] Worker 0 starting house 1517 (index 20/111)	[pipeline.py: 473]
+05/25 13:15:22 INFO: [Worker 0] Loaded 1 episodes for house 1517 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	[json_eval_runner.py: 278]
+05/25 13:15:22 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 13:15:30 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/50be4f8b8f744730878916aa38b0f08f	[json_eval_task_sampler.py: 648]
+05/25 13:15:30 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2df58d08f5604c058d43e00677d325b6	[json_eval_task_sampler.py: 648]
+05/25 13:15:30 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/591a76b35b094562b9dec8ffa5b77387	[json_eval_task_sampler.py: 648]
+05/25 13:15:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1517_ceiling.xml	[task_sampler.py: 797]
+05/25 13:15:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1517, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:15:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:15:39 INFO: [Worker 0] randomize_scene: Setting poses for 115 objects	[json_eval_task_sampler.py: 686]
+05/25 13:15:39 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:15:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:15:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:15:40 INFO: [Worker 0] Sampled task 'Pick up the calendar and place it in or on the rustic gray bowl'	[task_sampler.py: 1136]
+05/25 13:15:40 INFO: [Worker 0] Worker 0 house 1517 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:15:40 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:15:45 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]
+05/25 13:27:14 INFO: [Worker 0] Worker 0 house 1517 episode 0 object objadeskcalendar_af79a9504f2b44a881de51b09b26ead8_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 13:27:19 INFO: [Worker 0] Batching and saving trajectory data for house_1517: 1 episodes	[pipeline.py: 233]
+05/25 13:27:19 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:27:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:27:23 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1517	[save_utils.py: 703]
+05/25 13:27:23 INFO: [Worker 0] Successfully saved trajectory data for house_1517 in 3.66s (batch: 3.51s, save: 0.16s)	[pipeline.py: 280]
+05/25 13:27:23 WARNING: [Worker 0] No trajectory data to save for house_1517	[pipeline.py: 229]
+05/25 13:27:23 INFO: [Worker 0] Worker 0 completed house 1517: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:27:23 INFO: [Worker 0] Worker 0 starting house 1555 (index 21/111)	[pipeline.py: 473]
+05/25 13:27:23 INFO: [Worker 0] Loaded 1 episodes for house 1555 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	[json_eval_runner.py: 278]
+05/25 13:27:23 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 13:27:26 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a37c32fbdbbb4ab19c8b1cccc557f52d	[json_eval_task_sampler.py: 648]
+05/25 13:27:26 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/472cceee5a224ff6933e7baf31d16641	[json_eval_task_sampler.py: 648]
+05/25 13:27:26 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/521e5cb1802643d0bb7366e1f85c18a9	[json_eval_task_sampler.py: 648]
+05/25 13:27:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1555_ceiling.xml	[task_sampler.py: 797]
+05/25 13:27:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1555, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:27:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:27:31 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects	[json_eval_task_sampler.py: 686]
+05/25 13:27:31 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:27:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:27:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:27:31 INFO: [Worker 0] Sampled task 'Pick up the purple rectangular packet with cupcake image and place it in or on the round shallow small beige bowl'	[task_sampler.py: 1136]
+05/25 13:27:31 INFO: [Worker 0] Worker 0 house 1555 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:27:31 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:27:32 WARNING: [Worker 0] Could not find object objadentures_4fc005a4bb9f4ed49ad3b5255e87e720_1_0_5 in scene	[object_manager.py: 1238]
+05/25 13:27:32 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene	[object_manager.py: 1238]
+05/25 13:34:09 INFO: [Worker 0] Worker 0 house 1555 episode 0 object objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_2_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 13:34:13 INFO: [Worker 0] Batching and saving trajectory data for house_1555: 1 episodes	[pipeline.py: 233]
+05/25 13:34:13 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:34:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:34:16 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1555	[save_utils.py: 703]
+05/25 13:34:16 INFO: [Worker 0] Successfully saved trajectory data for house_1555 in 3.32s (batch: 3.16s, save: 0.16s)	[pipeline.py: 280]
+05/25 13:34:17 WARNING: [Worker 0] No trajectory data to save for house_1555	[pipeline.py: 229]
+05/25 13:34:17 INFO: [Worker 0] Worker 0 completed house 1555: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:34:17 INFO: [Worker 0] Worker 0 starting house 1603 (index 22/111)	[pipeline.py: 473]
+05/25 13:34:17 INFO: [Worker 0] Loaded 1 episodes for house 1603 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	[json_eval_runner.py: 278]
+05/25 13:34:17 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 13:34:20 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_30	[json_eval_task_sampler.py: 648]
+05/25 13:34:20 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fb56f8968a9c443897498a9ccf5c46d1	[json_eval_task_sampler.py: 648]
+05/25 13:34:20 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_5	[json_eval_task_sampler.py: 648]
+05/25 13:34:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1603_ceiling.xml	[task_sampler.py: 797]
+05/25 13:34:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1603, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:34:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:34:24 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects	[json_eval_task_sampler.py: 686]
+05/25 13:34:24 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:34:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:34:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:34:24 INFO: [Worker 0] Sampled task 'Pick up the metallic cursive sign and place it in or on the smooth translucent glass bowl'	[task_sampler.py: 1136]
+05/25 13:34:24 INFO: [Worker 0] Worker 0 house 1603 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:34:24 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:34:25 WARNING: [Worker 0] Could not find object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_9 in scene	[object_manager.py: 1238]
+05/25 13:34:25 WARNING: [Worker 0] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_9 in scene	[object_manager.py: 1238]
+05/25 13:34:26 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 13:38:33 INFO: [Worker 0] Worker 0 house 1603 episode 0 object objawallsign_df0452e50f85485fbc37b96a2b6bdb0d_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 13:38:37 INFO: [Worker 0] Batching and saving trajectory data for house_1603: 1 episodes	[pipeline.py: 233]
+05/25 13:38:37 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:38:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:38:40 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1603	[save_utils.py: 703]
+05/25 13:38:40 INFO: [Worker 0] Successfully saved trajectory data for house_1603 in 3.08s (batch: 2.92s, save: 0.15s)	[pipeline.py: 280]
+05/25 13:38:41 WARNING: [Worker 0] No trajectory data to save for house_1603	[pipeline.py: 229]
+05/25 13:38:41 INFO: [Worker 0] Worker 0 completed house 1603: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:38:41 INFO: [Worker 0] Worker 0 starting house 1633 (index 23/111)	[pipeline.py: 473]
+05/25 13:38:41 INFO: [Worker 0] Loaded 1 episodes for house 1633 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	[json_eval_runner.py: 278]
+05/25 13:38:41 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]
+05/25 13:38:43 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ac3628478f6c4042a16e77d6753fa413	[json_eval_task_sampler.py: 648]
+05/25 13:38:43 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_4	[json_eval_task_sampler.py: 648]
+05/25 13:38:43 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0e668fe03f564822ac2c97212f8b420a	[json_eval_task_sampler.py: 648]
+05/25 13:38:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1633_ceiling.xml	[task_sampler.py: 797]
+05/25 13:38:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1633, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:38:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:38:48 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects	[json_eval_task_sampler.py: 686]
+05/25 13:38:48 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:38:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:38:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:38:48 INFO: [Worker 0] Sampled task 'Pick up the rail and place it in or on the receptacle'	[task_sampler.py: 1136]
+05/25 13:38:48 INFO: [Worker 0] Worker 0 house 1633 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:38:48 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:38:50 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 13:44:28 INFO: [Worker 0] Worker 0 house 1633 episode 0 object objametalrail_9643f982b1f84927af2ecd167a1ce232_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 13:44:32 INFO: [Worker 0] Batching and saving trajectory data for house_1633: 1 episodes	[pipeline.py: 233]
+05/25 13:44:32 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:44:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:44:35 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1633	[save_utils.py: 703]
+05/25 13:44:35 INFO: [Worker 0] Successfully saved trajectory data for house_1633 in 3.20s (batch: 3.06s, save: 0.15s)	[pipeline.py: 280]
+05/25 13:44:36 WARNING: [Worker 0] No trajectory data to save for house_1633	[pipeline.py: 229]
+05/25 13:44:36 INFO: [Worker 0] Worker 0 completed house 1633: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:44:36 INFO: [Worker 0] Worker 0 starting house 1676 (index 24/111)	[pipeline.py: 473]
+05/25 13:44:36 INFO: [Worker 0] Loaded 1 episodes for house 1676 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	[json_eval_runner.py: 278]
+05/25 13:44:36 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]
+05/25 13:44:37 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/c7df0f7671d34fb9817d37067072f9ab	[json_eval_task_sampler.py: 648]
+05/25 13:44:37 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/4bf7b7b26a704818b1ed3d703a11855b	[json_eval_task_sampler.py: 648]
+05/25 13:44:37 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e2a8c3df68a94aea94050e01ad9aa918	[json_eval_task_sampler.py: 648]
+05/25 13:44:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1676_ceiling.xml	[task_sampler.py: 797]
+05/25 13:44:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1676, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:44:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:44:40 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects	[json_eval_task_sampler.py: 686]
+05/25 13:44:40 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:44:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:44:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:44:40 INFO: [Worker 0] Sampled task 'Pick up the black webcam with blue light and place it in or on the shallow round bowl with feet'	[task_sampler.py: 1136]
+05/25 13:44:40 INFO: [Worker 0] Worker 0 house 1676 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:44:41 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:51:25 INFO: [Worker 0] Worker 0 house 1676 episode 0 object objawebcam_a0bf7bcc50f04a109d5212a6da0c3f4a_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 13:51:29 INFO: [Worker 0] Batching and saving trajectory data for house_1676: 1 episodes	[pipeline.py: 233]
+05/25 13:51:29 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:51:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:51:33 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1676	[save_utils.py: 703]
+05/25 13:51:33 INFO: [Worker 0] Successfully saved trajectory data for house_1676 in 3.13s (batch: 2.98s, save: 0.16s)	[pipeline.py: 280]
+05/25 13:51:33 WARNING: [Worker 0] No trajectory data to save for house_1676	[pipeline.py: 229]
+05/25 13:51:33 INFO: [Worker 0] Worker 0 completed house 1676: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:51:33 INFO: [Worker 0] Worker 0 starting house 1735 (index 25/111)	[pipeline.py: 473]
+05/25 13:51:33 INFO: [Worker 0] Loaded 1 episodes for house 1735 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	[json_eval_runner.py: 278]
+05/25 13:51:33 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 13:51:35 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/63211cbfb48044bcbdbbd30a3aa3bb75	[json_eval_task_sampler.py: 648]
+05/25 13:51:35 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bcf3a4e49ee14eeda2faca7c7455161d	[json_eval_task_sampler.py: 648]
+05/25 13:51:35 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/12ca824c9c81470d994ceccb4b5a9061	[json_eval_task_sampler.py: 648]
+05/25 13:51:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1735_ceiling.xml	[task_sampler.py: 797]
+05/25 13:51:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1735, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:51:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:51:39 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects	[json_eval_task_sampler.py: 686]
+05/25 13:51:39 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:51:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:51:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:51:39 INFO: [Worker 0] Sampled task 'Pick up the red and blue eraser and place it in or on the shallow white glossy ceramic bowl'	[task_sampler.py: 1136]
+05/25 13:51:39 INFO: [Worker 0] Worker 0 house 1735 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:51:39 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:51:41 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 14:01:31 INFO: [Worker 0] Worker 0 house 1735 episode 0 object objaeraser_f0916a69ba514ecc973b44528b9dcc43_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 14:01:37 INFO: [Worker 0] Batching and saving trajectory data for house_1735: 1 episodes	[pipeline.py: 233]
+05/25 14:01:37 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:01:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:01:42 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1735	[save_utils.py: 703]
+05/25 14:01:42 INFO: [Worker 0] Successfully saved trajectory data for house_1735 in 5.06s (batch: 4.81s, save: 0.25s)	[pipeline.py: 280]
+05/25 14:01:42 WARNING: [Worker 0] No trajectory data to save for house_1735	[pipeline.py: 229]
+05/25 14:01:42 INFO: [Worker 0] Worker 0 completed house 1735: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:01:42 INFO: [Worker 0] Worker 0 starting house 1778 (index 26/111)	[pipeline.py: 473]
+05/25 14:01:42 INFO: [Worker 0] Loaded 1 episodes for house 1778 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	[json_eval_runner.py: 278]
+05/25 14:01:42 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 14:01:43 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_5	[json_eval_task_sampler.py: 648]
+05/25 14:01:43 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_13	[json_eval_task_sampler.py: 648]
+05/25 14:01:43 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a37c32fbdbbb4ab19c8b1cccc557f52d	[json_eval_task_sampler.py: 648]
+05/25 14:01:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1778_ceiling.xml	[task_sampler.py: 797]
+05/25 14:01:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1778, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:01:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:01:46 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects	[json_eval_task_sampler.py: 686]
+05/25 14:01:46 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:01:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:01:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:01:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:01:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:01:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:01:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:01:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:01:46 INFO: [Worker 0] Sampled task 'Pick up the golden metallic ring with patterns and place it in or on the white bowl'	[task_sampler.py: 1136]
+05/25 14:01:46 INFO: [Worker 0] Worker 0 house 1778 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:01:46 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:01:48 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 14:07:38 INFO: [Worker 0] Worker 0 house 1778 episode 0 object objadecorativering_eba541e07dbb410fb691858c0e1465c8_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 14:07:44 INFO: [Worker 0] Batching and saving trajectory data for house_1778: 1 episodes	[pipeline.py: 233]
+05/25 14:07:44 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:07:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:07:49 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1778	[save_utils.py: 703]
+05/25 14:07:49 INFO: [Worker 0] Successfully saved trajectory data for house_1778 in 5.33s (batch: 5.09s, save: 0.24s)	[pipeline.py: 280]
+05/25 14:07:50 WARNING: [Worker 0] No trajectory data to save for house_1778	[pipeline.py: 229]
+05/25 14:07:50 INFO: [Worker 0] Worker 0 completed house 1778: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:07:50 INFO: [Worker 0] Worker 0 starting house 1797 (index 27/111)	[pipeline.py: 473]
+05/25 14:07:50 INFO: [Worker 0] Loaded 2 episodes for house 1797 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	[json_eval_runner.py: 278]
+05/25 14:07:50 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]
+05/25 14:07:56 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/65e992e1326c4615bdada49b02005e16	[json_eval_task_sampler.py: 648]
+05/25 14:07:56 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/292913530b1c41709ffc8685fbb9d55a	[json_eval_task_sampler.py: 648]
+05/25 14:07:56 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/24464015c15b4662a32be7625ae3f75b	[json_eval_task_sampler.py: 648]
+05/25 14:08:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1797_ceiling.xml	[task_sampler.py: 797]
+05/25 14:08:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1797, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:08:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:08:05 INFO: [Worker 0] randomize_scene: Setting poses for 96 objects	[json_eval_task_sampler.py: 686]
+05/25 14:08:05 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:08:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:08:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:08:05 INFO: [Worker 0] Sampled task 'Pick up the hexagonal black medallion yellow emblem and place it in or on the red geometric patterned bowl'	[task_sampler.py: 1136]
+05/25 14:08:05 INFO: [Worker 0] Worker 0 house 1797 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 14:08:05 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:08:06 WARNING: [Worker 0] Could not find object objadressshoe_dc620e458adb44cdb9a0878e5a7e1630_2_0_5 in scene	[object_manager.py: 1238]
+05/25 14:08:06 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene	[object_manager.py: 1238]
+05/25 14:08:06 WARNING: [Worker 0] Could not find object objapaymentterminal_dbf1b096143d46199eb052db60f5ad6c_1_0_8 in scene	[object_manager.py: 1238]
+05/25 14:12:18 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 14:19:26 INFO: [Worker 0] Worker 0 house 1797 episode 0 object objamedallion_8e43d847064d4326bc8ff29491fd2bd0_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 14:19:33 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 14:19:39 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/65e992e1326c4615bdada49b02005e16	[json_eval_task_sampler.py: 648]
+05/25 14:19:39 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/292913530b1c41709ffc8685fbb9d55a	[json_eval_task_sampler.py: 648]
+05/25 14:19:39 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/24464015c15b4662a32be7625ae3f75b	[json_eval_task_sampler.py: 648]
+05/25 14:19:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1797_ceiling.xml	[task_sampler.py: 797]
+05/25 14:19:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1797, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:19:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:19:47 INFO: [Worker 0] randomize_scene: Setting poses for 96 objects	[json_eval_task_sampler.py: 686]
+05/25 14:19:47 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:19:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:19:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:19:47 INFO: [Worker 0] Sampled task 'Pick up the cute blue toy figure holding bear and place it in or on the red patterned bowl'	[task_sampler.py: 1136]
+05/25 14:19:47 INFO: [Worker 0] Worker 0 house 1797 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 14:19:47 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:19:47 WARNING: [Worker 0] Could not find object objadressshoe_dc620e458adb44cdb9a0878e5a7e1630_2_0_5 in scene	[object_manager.py: 1238]
+05/25 14:19:47 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene	[object_manager.py: 1238]
+05/25 14:19:47 WARNING: [Worker 0] Could not find object objapaymentterminal_dbf1b096143d46199eb052db60f5ad6c_1_0_8 in scene	[object_manager.py: 1238]
+05/25 14:24:19 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 14:31:49 INFO: [Worker 0] Worker 0 house 1797 episode 1 object objatoyfigure_445fa1a889eb4441acc0cb6d0a37a3dc_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 14:31:55 INFO: [Worker 0] Batching and saving trajectory data for house_1797: 2 episodes	[pipeline.py: 233]
+05/25 14:31:55 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:31:59 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:32:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:32:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:32:04 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1797	[save_utils.py: 703]
+05/25 14:32:04 INFO: [Worker 0] Successfully saved trajectory data for house_1797 in 8.69s (batch: 8.29s, save: 0.41s)	[pipeline.py: 280]
+05/25 14:32:04 WARNING: [Worker 0] No trajectory data to save for house_1797	[pipeline.py: 229]
+05/25 14:32:04 INFO: [Worker 0] Worker 0 completed house 1797: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 14:32:04 INFO: [Worker 0] Worker 0 starting house 1839 (index 28/111)	[pipeline.py: 473]
+05/25 14:32:04 INFO: [Worker 0] Loaded 1 episodes for house 1839 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	[json_eval_runner.py: 278]
+05/25 14:32:04 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]
+05/25 14:32:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0	[json_eval_task_sampler.py: 648]
+05/25 14:32:09 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_13	[json_eval_task_sampler.py: 648]
+05/25 14:32:09 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_30	[json_eval_task_sampler.py: 648]
+05/25 14:32:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1839_ceiling.xml	[task_sampler.py: 797]
+05/25 14:32:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1839, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:32:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:32:16 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects	[json_eval_task_sampler.py: 686]
+05/25 14:32:16 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:32:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:32:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:32:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:32:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:32:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:32:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:32:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:32:16 INFO: [Worker 0] Sampled task 'Pick up the blue rectangular gum package with branding and place it in or on the gray bowl'	[task_sampler.py: 1136]
+05/25 14:32:16 INFO: [Worker 0] Worker 0 house 1839 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:32:16 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:38:37 INFO: [Worker 0] Worker 0 house 1839 episode 0 object objachewinggumpackage_ccce466fa203480c91ffba46d02d6509_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 14:38:42 INFO: [Worker 0] Batching and saving trajectory data for house_1839: 1 episodes	[pipeline.py: 233]
+05/25 14:38:42 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:38:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:38:46 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1839	[save_utils.py: 703]
+05/25 14:38:46 INFO: [Worker 0] Successfully saved trajectory data for house_1839 in 4.03s (batch: 3.73s, save: 0.30s)	[pipeline.py: 280]
+05/25 14:38:46 WARNING: [Worker 0] No trajectory data to save for house_1839	[pipeline.py: 229]
+05/25 14:38:46 INFO: [Worker 0] Worker 0 completed house 1839: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:38:46 INFO: [Worker 0] Worker 0 starting house 1874 (index 29/111)	[pipeline.py: 473]
+05/25 14:38:46 INFO: [Worker 0] Loaded 1 episodes for house 1874 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	[json_eval_runner.py: 278]
+05/25 14:38:46 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 14:38:48 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_12	[json_eval_task_sampler.py: 648]
+05/25 14:38:48 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_17	[json_eval_task_sampler.py: 648]
+05/25 14:38:48 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e11475635c464216a2213d65c45a319a	[json_eval_task_sampler.py: 648]
+05/25 14:38:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1874_ceiling.xml	[task_sampler.py: 797]
+05/25 14:38:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1874, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:38:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:38:52 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects	[json_eval_task_sampler.py: 686]
+05/25 14:38:52 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:38:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:38:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:38:52 INFO: [Worker 0] Sampled task 'Pick up the silver garden trowel and place it in or on the rustic stone bowl'	[task_sampler.py: 1136]
+05/25 14:38:52 INFO: [Worker 0] Worker 0 house 1874 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:38:53 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:49:38 INFO: [Worker 0] Worker 0 house 1874 episode 0 object objagardentrowel_bb4d58ad2c034be38694489c3fe50b44_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 14:49:43 INFO: [Worker 0] Batching and saving trajectory data for house_1874: 1 episodes	[pipeline.py: 233]
+05/25 14:49:43 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:49:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:49:46 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1874	[save_utils.py: 703]
+05/25 14:49:46 INFO: [Worker 0] Successfully saved trajectory data for house_1874 in 3.34s (batch: 3.19s, save: 0.15s)	[pipeline.py: 280]
+05/25 14:49:47 WARNING: [Worker 0] No trajectory data to save for house_1874	[pipeline.py: 229]
+05/25 14:49:47 INFO: [Worker 0] Worker 0 completed house 1874: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:49:47 INFO: [Worker 0] Worker 0 starting house 1921 (index 30/111)	[pipeline.py: 473]
+05/25 14:49:47 INFO: [Worker 0] Loaded 1 episodes for house 1921 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	[json_eval_runner.py: 278]
+05/25 14:49:47 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 14:49:48 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/5efb7a6940894b5a835b4de2f3cf1559	[json_eval_task_sampler.py: 648]
+05/25 14:49:48 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fb56f8968a9c443897498a9ccf5c46d1	[json_eval_task_sampler.py: 648]
+05/25 14:49:48 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a6cfd144a62e446c92f0987fb81d584f	[json_eval_task_sampler.py: 648]
+05/25 14:49:48 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 14:49:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1921_ceiling.xml	[task_sampler.py: 797]
+05/25 14:49:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1921, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:49:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:49:50 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects	[json_eval_task_sampler.py: 686]
+05/25 14:49:50 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:49:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:49:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:49:50 INFO: [Worker 0] Sampled task 'Pick up the brown loafer shoe with black sole and place it in or on the rustic round clay dish with handles'	[task_sampler.py: 1136]
+05/25 14:49:50 INFO: [Worker 0] Worker 0 house 1921 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:49:50 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:49:50 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene	[object_manager.py: 1238]
+05/25 14:49:52 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 14:50:51 INFO: [Worker 0] Worker 0 house 1921 episode 0 object objashoe_d69501fb953349a7ad5e1843d2aabf33_1_0_3 completed with success=True	[pipeline.py: 1114]
+05/25 14:50:55 INFO: [Worker 0] Batching and saving trajectory data for house_1921: 1 episodes	[pipeline.py: 233]
+05/25 14:50:55 INFO: [Worker 0] Preparing episode data: 86 timesteps	[save_utils.py: 284]
+05/25 14:50:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:50:58 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1921	[save_utils.py: 703]
+05/25 14:50:58 INFO: [Worker 0] Successfully saved trajectory data for house_1921 in 3.10s (batch: 2.99s, save: 0.11s)	[pipeline.py: 280]
+05/25 14:50:59 WARNING: [Worker 0] No trajectory data to save for house_1921	[pipeline.py: 229]
+05/25 14:50:59 INFO: [Worker 0] Worker 0 completed house 1921: 1/1 successful episodes	[pipeline.py: 1243]
+05/25 14:50:59 INFO: [Worker 0] Worker 0 starting house 1981 (index 31/111)	[pipeline.py: 473]
+05/25 14:50:59 INFO: [Worker 0] Loaded 1 episodes for house 1981 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	[json_eval_runner.py: 278]
+05/25 14:50:59 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 14:51:03 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/5fa7101ca3744068ae84b30dbf0a9240	[json_eval_task_sampler.py: 648]
+05/25 14:51:03 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bfcfd4c7bfa649259e047eb92e6a5c31	[json_eval_task_sampler.py: 648]
+05/25 14:51:03 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/937044a40c3845bf88639056005b8a75	[json_eval_task_sampler.py: 648]
+05/25 14:51:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1981_ceiling.xml	[task_sampler.py: 797]
+05/25 14:51:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1981, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:51:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:51:11 INFO: [Worker 0] randomize_scene: Setting poses for 97 objects	[json_eval_task_sampler.py: 686]
+05/25 14:51:11 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:51:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:51:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:51:11 INFO: [Worker 0] Sampled task 'Pick up the wooden rectangular stamp with text and place it in or on the white ceramic bowl with handle'	[task_sampler.py: 1136]
+05/25 14:51:11 INFO: [Worker 0] Worker 0 house 1981 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:51:12 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:58:25 INFO: [Worker 0] Worker 0 house 1981 episode 0 object objastamp_34a49861e7744acfb71de471a755e917_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 14:58:30 INFO: [Worker 0] Batching and saving trajectory data for house_1981: 1 episodes	[pipeline.py: 233]
+05/25 14:58:30 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:58:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:58:34 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1981	[save_utils.py: 703]
+05/25 14:58:34 INFO: [Worker 0] Successfully saved trajectory data for house_1981 in 3.67s (batch: 3.42s, save: 0.25s)	[pipeline.py: 280]
+05/25 14:58:35 WARNING: [Worker 0] No trajectory data to save for house_1981	[pipeline.py: 229]
+05/25 14:58:35 INFO: [Worker 0] Worker 0 completed house 1981: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:58:35 INFO: [Worker 0] Worker 0 starting house 2056 (index 32/111)	[pipeline.py: 473]
+05/25 14:58:35 INFO: [Worker 0] Loaded 1 episodes for house 2056 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	[json_eval_runner.py: 278]
+05/25 14:58:35 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 14:58:40 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_19	[json_eval_task_sampler.py: 648]
+05/25 14:58:40 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e2a8c3df68a94aea94050e01ad9aa918	[json_eval_task_sampler.py: 648]
+05/25 14:58:40 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/591a76b35b094562b9dec8ffa5b77387	[json_eval_task_sampler.py: 648]
+05/25 14:58:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2056_ceiling.xml	[task_sampler.py: 797]
+05/25 14:58:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2056, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:58:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:58:48 INFO: [Worker 0] randomize_scene: Setting poses for 107 objects	[json_eval_task_sampler.py: 686]
+05/25 14:58:48 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:58:48 INFO: [Worker 0] Sampled task 'Pick up the yellow vintage soap bar with portrait and place it in or on the stone bowl crystals'	[task_sampler.py: 1136]
+05/25 14:58:48 INFO: [Worker 0] Worker 0 house 2056 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:58:48 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:08:37 INFO: [Worker 0] Worker 0 house 2056 episode 0 object objasoap_9bc320bcb7684917b19589e218887f1b_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 15:08:43 INFO: [Worker 0] Batching and saving trajectory data for house_2056: 1 episodes	[pipeline.py: 233]
+05/25 15:08:43 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:08:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:08:47 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2056	[save_utils.py: 703]
+05/25 15:08:47 INFO: [Worker 0] Successfully saved trajectory data for house_2056 in 4.46s (batch: 4.23s, save: 0.22s)	[pipeline.py: 280]
+05/25 15:08:48 WARNING: [Worker 0] No trajectory data to save for house_2056	[pipeline.py: 229]
+05/25 15:08:48 INFO: [Worker 0] Worker 0 completed house 2056: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:08:48 INFO: [Worker 0] Worker 0 starting house 2116 (index 33/111)	[pipeline.py: 473]
+05/25 15:08:48 INFO: [Worker 0] Loaded 1 episodes for house 2116 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	[json_eval_runner.py: 278]
+05/25 15:08:48 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 15:08:50 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e776cc1b82d54420a55e924510c027c5	[json_eval_task_sampler.py: 648]
+05/25 15:08:50 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/44f5be7685c1439c85cf9bc36e78578a	[json_eval_task_sampler.py: 648]
+05/25 15:08:50 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/591a76b35b094562b9dec8ffa5b77387	[json_eval_task_sampler.py: 648]
+05/25 15:08:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2116_ceiling.xml	[task_sampler.py: 797]
+05/25 15:08:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2116, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:08:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:08:55 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects	[json_eval_task_sampler.py: 686]
+05/25 15:08:56 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:08:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:08:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:08:56 INFO: [Worker 0] Sampled task 'Pick up the worn turquoise can with label and place it in or on the glossy hemispherical bowl with earth map'	[task_sampler.py: 1136]
+05/25 15:08:56 INFO: [Worker 0] Worker 0 house 2116 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:08:56 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:08:59 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 15:13:56 INFO: [Worker 0] Worker 0 house 2116 episode 0 object objafoodcan_7f5083c31b074cc3a08bf2bd4ef16591_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 15:14:01 INFO: [Worker 0] Batching and saving trajectory data for house_2116: 1 episodes	[pipeline.py: 233]
+05/25 15:14:01 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:14:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:14:04 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2116	[save_utils.py: 703]
+05/25 15:14:04 INFO: [Worker 0] Successfully saved trajectory data for house_2116 in 3.39s (batch: 3.20s, save: 0.19s)	[pipeline.py: 280]
+05/25 15:14:05 WARNING: [Worker 0] No trajectory data to save for house_2116	[pipeline.py: 229]
+05/25 15:14:05 INFO: [Worker 0] Worker 0 completed house 2116: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:14:05 INFO: [Worker 0] Worker 0 starting house 2141 (index 34/111)	[pipeline.py: 473]
+05/25 15:14:05 INFO: [Worker 0] Loaded 1 episodes for house 2141 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	[json_eval_runner.py: 278]
+05/25 15:14:05 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 15:14:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_2	[json_eval_task_sampler.py: 648]
+05/25 15:14:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/80f09dd8b3d34005b3625823091978af	[json_eval_task_sampler.py: 648]
+05/25 15:14:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/03f1185ff6d4428fa81f6fc9db589338	[json_eval_task_sampler.py: 648]
+05/25 15:14:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2141_ceiling.xml	[task_sampler.py: 797]
+05/25 15:14:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2141, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:14:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:14:08 INFO: [Worker 0] randomize_scene: Setting poses for 26 objects	[json_eval_task_sampler.py: 686]
+05/25 15:14:08 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:14:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:14:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:14:08 INFO: [Worker 0] Sampled task 'Pick up the effects unit and place it in or on the tan bowl with patterns'	[task_sampler.py: 1136]
+05/25 15:14:08 INFO: [Worker 0] Worker 0 house 2141 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:14:08 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:14:08 WARNING: [Worker 0] Could not find object objadecorativekey_02f4ae923e5b4aa7bf0d338cf7423ef7_1_0_3 in scene	[object_manager.py: 1238]
+05/25 15:14:08 WARNING: [Worker 0] Could not find object objaclaytablet_5a83321dfc4d4f60be6cb300826a248b_1_0_3 in scene	[object_manager.py: 1238]
+05/25 15:18:01 INFO: [Worker 0] Worker 0 house 2141 episode 0 object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 15:18:05 INFO: [Worker 0] Batching and saving trajectory data for house_2141: 1 episodes	[pipeline.py: 233]
+05/25 15:18:05 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:18:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:18:08 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2141	[save_utils.py: 703]
+05/25 15:18:08 INFO: [Worker 0] Successfully saved trajectory data for house_2141 in 3.18s (batch: 3.02s, save: 0.16s)	[pipeline.py: 280]
+05/25 15:18:09 WARNING: [Worker 0] No trajectory data to save for house_2141	[pipeline.py: 229]
+05/25 15:18:09 INFO: [Worker 0] Worker 0 completed house 2141: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:18:09 INFO: [Worker 0] Worker 0 starting house 2171 (index 35/111)	[pipeline.py: 473]
+05/25 15:18:09 INFO: [Worker 0] Loaded 1 episodes for house 2171 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	[json_eval_runner.py: 278]
+05/25 15:18:09 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 15:18:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/5efb7a6940894b5a835b4de2f3cf1559	[json_eval_task_sampler.py: 648]
+05/25 15:18:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fdfd829fe39049a69f6df2289b29dc7f	[json_eval_task_sampler.py: 648]
+05/25 15:18:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d02ed62181d942fc9a1527b49bc67b17	[json_eval_task_sampler.py: 648]
+05/25 15:18:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2171_ceiling.xml	[task_sampler.py: 797]
+05/25 15:18:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2171, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:18:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:18:14 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects	[json_eval_task_sampler.py: 686]
+05/25 15:18:14 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:18:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:18:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:18:14 INFO: [Worker 0] Sampled task 'Pick up the turquoise tape dispenser and place it in or on the rectangular ornate red box'	[task_sampler.py: 1136]
+05/25 15:18:14 INFO: [Worker 0] Worker 0 house 2171 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:18:15 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:18:15 WARNING: [Worker 0] Could not find object objaaircraftmodel_2ea003ec5a8b4ac1a1207d2810b0265c_1_0_8 in scene	[object_manager.py: 1238]
+05/25 15:18:15 WARNING: [Worker 0] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_8 in scene	[object_manager.py: 1238]
+05/25 15:23:30 INFO: [Worker 0] Worker 0 house 2171 episode 0 object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 15:23:34 INFO: [Worker 0] Batching and saving trajectory data for house_2171: 1 episodes	[pipeline.py: 233]
+05/25 15:23:34 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:23:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:23:37 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2171	[save_utils.py: 703]
+05/25 15:23:37 INFO: [Worker 0] Successfully saved trajectory data for house_2171 in 3.13s (batch: 2.98s, save: 0.16s)	[pipeline.py: 280]
+05/25 15:23:38 WARNING: [Worker 0] No trajectory data to save for house_2171	[pipeline.py: 229]
+05/25 15:23:38 INFO: [Worker 0] Worker 0 completed house 2171: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:23:38 INFO: [Worker 0] Worker 0 starting house 2203 (index 36/111)	[pipeline.py: 473]
+05/25 15:23:38 INFO: [Worker 0] Loaded 1 episodes for house 2203 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	[json_eval_runner.py: 278]
+05/25 15:23:38 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 15:23:42 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/292913530b1c41709ffc8685fbb9d55a	[json_eval_task_sampler.py: 648]
+05/25 15:23:42 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/53c885e05492439cace4cc626fec00cc	[json_eval_task_sampler.py: 648]
+05/25 15:23:42 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2b5fd8656f2b43cba43cb0e25a2cb838	[json_eval_task_sampler.py: 648]
+05/25 15:23:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2203_ceiling.xml	[task_sampler.py: 797]
+05/25 15:23:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2203, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:23:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:23:48 INFO: [Worker 0] randomize_scene: Setting poses for 91 objects	[json_eval_task_sampler.py: 686]
+05/25 15:23:48 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:23:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:23:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:23:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:23:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:23:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:23:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:23:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:23:48 INFO: [Worker 0] Sampled task 'Pick up the heart-shaped pink key with shaft and place it in or on the blue bowl'	[task_sampler.py: 1136]
+05/25 15:23:48 INFO: [Worker 0] Worker 0 house 2203 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:23:48 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:23:48 WARNING: [Worker 0] Could not find object objasneaker_225a62d0a7d94f4cbdc9e51f57f2654a_1_0_5 in scene	[object_manager.py: 1238]
+05/25 15:23:48 WARNING: [Worker 0] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_2_0_5 in scene	[object_manager.py: 1238]
+05/25 15:23:48 WARNING: [Worker 0] Could not find object objaartpiece_ffe07a4cb7564c91953e193dc1b3d62f_1_0_7 in scene	[object_manager.py: 1238]
+05/25 15:23:48 WARNING: [Worker 0] Could not find object objaartifact_cce308c90fcd49d6ae5bac99fcd3658a_1_0_9 in scene	[object_manager.py: 1238]
+05/25 15:23:48 WARNING: [Worker 0] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_9 in scene	[object_manager.py: 1238]
+05/25 15:23:48 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_9 in scene	[object_manager.py: 1238]
+05/25 15:23:48 WARNING: [Worker 0] Could not find object objastopwatch_39d799f20f4041228704749c854b60af_1_0_9 in scene	[object_manager.py: 1238]
+05/25 15:23:48 WARNING: [Worker 0] Could not find object soapdispenser_a5b909071a32566c65c63f0ed9e3c5d4_1_0_9 in scene	[object_manager.py: 1238]
+05/25 15:29:09 INFO: [Worker 0] Worker 0 house 2203 episode 0 object objadecorativekey_85ebe9fe3cd0427a96c312854595bc8c_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 15:29:12 INFO: [Worker 0] Batching and saving trajectory data for house_2203: 1 episodes	[pipeline.py: 233]
+05/25 15:29:12 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:29:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:29:15 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2203	[save_utils.py: 703]
+05/25 15:29:15 INFO: [Worker 0] Successfully saved trajectory data for house_2203 in 2.97s (batch: 2.83s, save: 0.14s)	[pipeline.py: 280]
+05/25 15:29:16 WARNING: [Worker 0] No trajectory data to save for house_2203	[pipeline.py: 229]
+05/25 15:29:16 INFO: [Worker 0] Worker 0 completed house 2203: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:29:16 INFO: [Worker 0] Worker 0 starting house 2239 (index 37/111)	[pipeline.py: 473]
+05/25 15:29:16 INFO: [Worker 0] Loaded 1 episodes for house 2239 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	[json_eval_runner.py: 278]
+05/25 15:29:16 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 15:29:16 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_5	[json_eval_task_sampler.py: 648]
+05/25 15:29:16 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/8c419f6d0cbc4580a2e2b9d273969b97	[json_eval_task_sampler.py: 648]
+05/25 15:29:16 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9605b2b278774b5bb4e486695e6d920a	[json_eval_task_sampler.py: 648]
+05/25 15:29:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2239_ceiling.xml	[task_sampler.py: 797]
+05/25 15:29:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2239, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:29:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:29:18 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects	[json_eval_task_sampler.py: 686]
+05/25 15:29:18 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:29:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:29:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:29:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:29:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:29:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:29:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:29:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:29:18 INFO: [Worker 0] Sampled task 'Pick up the smooth light brown egg and place it in or on the round wooden bowl'	[task_sampler.py: 1136]
+05/25 15:29:18 INFO: [Worker 0] Worker 0 house 2239 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:29:18 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:29:19 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 15:34:07 INFO: [Worker 0] Worker 0 house 2239 episode 0 object objaegg_a1c8580cc4ed4966abfb47d195c33d95_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 15:34:13 INFO: [Worker 0] Batching and saving trajectory data for house_2239: 1 episodes	[pipeline.py: 233]
+05/25 15:34:13 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:34:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:34:18 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2239	[save_utils.py: 703]
+05/25 15:34:18 INFO: [Worker 0] Successfully saved trajectory data for house_2239 in 4.94s (batch: 4.66s, save: 0.28s)	[pipeline.py: 280]
+05/25 15:34:19 WARNING: [Worker 0] No trajectory data to save for house_2239	[pipeline.py: 229]
+05/25 15:34:19 INFO: [Worker 0] Worker 0 completed house 2239: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:34:19 INFO: [Worker 0] Worker 0 starting house 2291 (index 38/111)	[pipeline.py: 473]
+05/25 15:34:19 INFO: [Worker 0] Loaded 1 episodes for house 2291 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	[json_eval_runner.py: 278]
+05/25 15:34:19 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 15:34:20 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f486de07c6f347588bcd3d22456f328d	[json_eval_task_sampler.py: 648]
+05/25 15:34:20 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/55bd2652583048adb5f261974f28b134	[json_eval_task_sampler.py: 648]
+05/25 15:34:20 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0e668fe03f564822ac2c97212f8b420a	[json_eval_task_sampler.py: 648]
+05/25 15:34:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2291_ceiling.xml	[task_sampler.py: 797]
+05/25 15:34:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2291, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:34:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:34:23 INFO: [Worker 0] randomize_scene: Setting poses for 15 objects	[json_eval_task_sampler.py: 686]
+05/25 15:34:23 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:34:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:34:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:34:23 INFO: [Worker 0] Sampled task 'Pick up the rugged gray stone ring and place it in or on the rectangular plastic tray'	[task_sampler.py: 1136]
+05/25 15:34:23 INFO: [Worker 0] Worker 0 house 2291 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:34:23 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:34:26 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 15:35:36 INFO: [Worker 0] Worker 0 house 2291 episode 0 object objadecorativering_a35b30bfc9d7420e8a7f94a7b2c205a5_1_0_2 completed with success=True	[pipeline.py: 1114]
+05/25 15:35:41 INFO: [Worker 0] Batching and saving trajectory data for house_2291: 1 episodes	[pipeline.py: 233]
+05/25 15:35:41 INFO: [Worker 0] Preparing episode data: 82 timesteps	[save_utils.py: 284]
+05/25 15:35:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:35:44 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2291	[save_utils.py: 703]
+05/25 15:35:44 INFO: [Worker 0] Successfully saved trajectory data for house_2291 in 3.24s (batch: 3.15s, save: 0.09s)	[pipeline.py: 280]
+05/25 15:35:45 WARNING: [Worker 0] No trajectory data to save for house_2291	[pipeline.py: 229]
+05/25 15:35:45 INFO: [Worker 0] Worker 0 completed house 2291: 1/1 successful episodes	[pipeline.py: 1243]
+05/25 15:35:45 INFO: [Worker 0] Worker 0 starting house 2328 (index 39/111)	[pipeline.py: 473]
+05/25 15:35:45 INFO: [Worker 0] Loaded 1 episodes for house 2328 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	[json_eval_runner.py: 278]
+05/25 15:35:45 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 15:35:46 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/01395fa3a8e54abc8c32a016b2d8c5f5	[json_eval_task_sampler.py: 648]
+05/25 15:35:46 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/576495fa2f9749adaca89aa604aa68b0	[json_eval_task_sampler.py: 648]
+05/25 15:35:46 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/292913530b1c41709ffc8685fbb9d55a	[json_eval_task_sampler.py: 648]
+05/25 15:35:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2328_ceiling.xml	[task_sampler.py: 797]
+05/25 15:35:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2328, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:35:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:35:48 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects	[json_eval_task_sampler.py: 686]
+05/25 15:35:48 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:35:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:35:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:35:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:35:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:35:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:35:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:35:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:35:48 INFO: [Worker 0] Sampled task 'Pick up the black hexagonal connector with protrusions and place it in or on the round light ashtray'	[task_sampler.py: 1136]
+05/25 15:35:48 INFO: [Worker 0] Worker 0 house 2328 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:35:48 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:35:49 WARNING: [Worker 0] Could not find object objacentipede_1bf9e3db92ba4d85ad12fdd9fc9c40ed_1_0_2 in scene	[object_manager.py: 1238]
+05/25 15:35:49 WARNING: [Worker 0] Could not find object cup_c2a1d01cc61341b5eb8c564a7fb9c769_1_0_2 in scene	[object_manager.py: 1238]
+05/25 15:35:51 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 15:41:53 INFO: [Worker 0] Worker 0 house 2328 episode 0 object objaconnector_580f404ed38e4d9ba7297c58cc38d586_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 15:41:57 INFO: [Worker 0] Batching and saving trajectory data for house_2328: 1 episodes	[pipeline.py: 233]
+05/25 15:41:57 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:42:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:42:00 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2328	[save_utils.py: 703]
+05/25 15:42:00 INFO: [Worker 0] Successfully saved trajectory data for house_2328 in 3.03s (batch: 2.88s, save: 0.14s)	[pipeline.py: 280]
+05/25 15:42:01 WARNING: [Worker 0] No trajectory data to save for house_2328	[pipeline.py: 229]
+05/25 15:42:01 INFO: [Worker 0] Worker 0 completed house 2328: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:42:01 INFO: [Worker 0] Worker 0 starting house 2374 (index 40/111)	[pipeline.py: 473]
+05/25 15:42:01 INFO: [Worker 0] Loaded 1 episodes for house 2374 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	[json_eval_runner.py: 278]
+05/25 15:42:01 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 15:42:04 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_7	[json_eval_task_sampler.py: 648]
+05/25 15:42:04 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0e668fe03f564822ac2c97212f8b420a	[json_eval_task_sampler.py: 648]
+05/25 15:42:04 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e2a8c3df68a94aea94050e01ad9aa918	[json_eval_task_sampler.py: 648]
+05/25 15:42:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2374_ceiling.xml	[task_sampler.py: 797]
+05/25 15:42:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2374, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:42:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:42:11 INFO: [Worker 0] randomize_scene: Setting poses for 97 objects	[json_eval_task_sampler.py: 686]
+05/25 15:42:11 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:42:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:42:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:42:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:42:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:42:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:42:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:42:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:42:11 INFO: [Worker 0] Sampled task 'Pick up the stop watch and place it in or on the stone bowl with crystals'	[task_sampler.py: 1136]
+05/25 15:42:11 INFO: [Worker 0] Worker 0 house 2374 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:42:11 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:42:13 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 15:47:51 INFO: [Worker 0] Worker 0 house 2374 episode 0 object objastopwatch_52be3edac347411e8b4b040ab9c650fc_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 15:47:55 INFO: [Worker 0] Batching and saving trajectory data for house_2374: 1 episodes	[pipeline.py: 233]
+05/25 15:47:55 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:47:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:47:59 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2374	[save_utils.py: 703]
+05/25 15:47:59 INFO: [Worker 0] Successfully saved trajectory data for house_2374 in 3.53s (batch: 3.36s, save: 0.17s)	[pipeline.py: 280]
+05/25 15:48:00 WARNING: [Worker 0] No trajectory data to save for house_2374	[pipeline.py: 229]
+05/25 15:48:00 INFO: [Worker 0] Worker 0 completed house 2374: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:48:00 INFO: [Worker 0] Worker 0 starting house 2412 (index 41/111)	[pipeline.py: 473]
+05/25 15:48:00 INFO: [Worker 0] Loaded 1 episodes for house 2412 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	[json_eval_runner.py: 278]
+05/25 15:48:00 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]
+05/25 15:48:01 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7bf14a57ee5345689c3efd4bd1616466	[json_eval_task_sampler.py: 648]
+05/25 15:48:01 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_13	[json_eval_task_sampler.py: 648]
+05/25 15:48:01 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a2e1b30c4fbb491e9aeff5cccdfc00ec	[json_eval_task_sampler.py: 648]
+05/25 15:48:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2412_ceiling.xml	[task_sampler.py: 797]
+05/25 15:48:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2412, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:48:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:48:03 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects	[json_eval_task_sampler.py: 686]
+05/25 15:48:03 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:48:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:48:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:48:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:48:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:48:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:48:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:48:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:48:03 INFO: [Worker 0] Sampled task 'Pick up the small oval red potato with texture and place it in or on the white ceramic mug'	[task_sampler.py: 1136]
+05/25 15:48:03 INFO: [Worker 0] Worker 0 house 2412 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:48:03 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:48:05 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 15:52:01 INFO: [Worker 0] Worker 0 house 2412 episode 0 object Irishpotato_e58a7a0c37cb0ef9c8155d56cc319ccf_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 15:52:06 INFO: [Worker 0] Batching and saving trajectory data for house_2412: 1 episodes	[pipeline.py: 233]
+05/25 15:52:06 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:52:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:52:10 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2412	[save_utils.py: 703]
+05/25 15:52:10 INFO: [Worker 0] Successfully saved trajectory data for house_2412 in 3.57s (batch: 3.33s, save: 0.24s)	[pipeline.py: 280]
+05/25 15:52:11 WARNING: [Worker 0] No trajectory data to save for house_2412	[pipeline.py: 229]
+05/25 15:52:11 INFO: [Worker 0] Worker 0 completed house 2412: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:52:11 INFO: [Worker 0] Worker 0 starting house 2432 (index 42/111)	[pipeline.py: 473]
+05/25 15:52:11 INFO: [Worker 0] Loaded 2 episodes for house 2432 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	[json_eval_runner.py: 278]
+05/25 15:52:11 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 15:52:15 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/01395fa3a8e54abc8c32a016b2d8c5f5	[json_eval_task_sampler.py: 648]
+05/25 15:52:15 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_29	[json_eval_task_sampler.py: 648]
+05/25 15:52:15 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7d2737e16fcf4d40bc549521ba6a2d02	[json_eval_task_sampler.py: 648]
+05/25 15:52:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2432_ceiling.xml	[task_sampler.py: 797]
+05/25 15:52:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2432, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:52:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:52:21 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects	[json_eval_task_sampler.py: 686]
+05/25 15:52:21 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:52:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:52:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:52:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:52:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:52:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:52:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:52:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:52:21 INFO: [Worker 0] Sampled task 'Pick up the square glossy yellow tile and place it in or on the stone bowl'	[task_sampler.py: 1136]
+05/25 15:52:21 INFO: [Worker 0] Worker 0 house 2432 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 15:52:22 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:52:22 WARNING: [Worker 0] Could not find object objaheadband_a45e0fe1df584ab4b49c35ef88bd90b0_1_0_5 in scene	[object_manager.py: 1238]
+05/25 15:52:22 WARNING: [Worker 0] Could not find object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:06:44 INFO: [Worker 0] Worker 0 house 2432 episode 0 object objadecorativetile_fea1af367e824f24acbc4910d1b3c1a6_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 16:06:49 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 16:06:53 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/01395fa3a8e54abc8c32a016b2d8c5f5	[json_eval_task_sampler.py: 648]
+05/25 16:06:53 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_29	[json_eval_task_sampler.py: 648]
+05/25 16:06:53 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7d2737e16fcf4d40bc549521ba6a2d02	[json_eval_task_sampler.py: 648]
+05/25 16:06:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2432_ceiling.xml	[task_sampler.py: 797]
+05/25 16:06:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2432, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:06:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:07:00 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects	[json_eval_task_sampler.py: 686]
+05/25 16:07:00 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:07:00 INFO: [Worker 0] Sampled task 'Pick up the black collar with metal spikes and place it in or on the matte gray bowl'	[task_sampler.py: 1136]
+05/25 16:07:00 INFO: [Worker 0] Worker 0 house 2432 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 16:07:00 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:07:01 WARNING: [Worker 0] Could not find object objaheadband_a45e0fe1df584ab4b49c35ef88bd90b0_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:07:01 WARNING: [Worker 0] Could not find object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:15:21 INFO: [Worker 0] Worker 0 house 2432 episode 1 object objacollar_eb320910987847f0b361c8c1936d9574_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 16:15:25 INFO: [Worker 0] Batching and saving trajectory data for house_2432: 2 episodes	[pipeline.py: 233]
+05/25 16:15:25 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:15:28 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:15:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:15:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:15:31 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2432	[save_utils.py: 703]
+05/25 16:15:31 INFO: [Worker 0] Successfully saved trajectory data for house_2432 in 5.67s (batch: 5.45s, save: 0.22s)	[pipeline.py: 280]
+05/25 16:15:32 WARNING: [Worker 0] No trajectory data to save for house_2432	[pipeline.py: 229]
+05/25 16:15:32 INFO: [Worker 0] Worker 0 completed house 2432: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 16:15:32 INFO: [Worker 0] Worker 0 starting house 2457 (index 43/111)	[pipeline.py: 473]
+05/25 16:15:32 INFO: [Worker 0] Loaded 1 episodes for house 2457 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	[json_eval_runner.py: 278]
+05/25 16:15:32 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 16:15:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/936714802d2849bea3efb1eb5c83cee6	[json_eval_task_sampler.py: 648]
+05/25 16:15:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e11475635c464216a2213d65c45a319a	[json_eval_task_sampler.py: 648]
+05/25 16:15:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/03fa6768245446f4bab866db37a6caec	[json_eval_task_sampler.py: 648]
+05/25 16:15:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2457_ceiling.xml	[task_sampler.py: 797]
+05/25 16:15:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2457, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:15:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:15:37 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects	[json_eval_task_sampler.py: 686]
+05/25 16:15:37 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:15:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:15:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:15:37 INFO: [Worker 0] Sampled task 'Pick up the creamy white porous natural sponge and place it in or on the bowl with rice and peas'	[task_sampler.py: 1136]
+05/25 16:15:37 INFO: [Worker 0] Worker 0 house 2457 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:15:37 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:15:37 WARNING: [Worker 0] Could not find object objaplantpot_70f3b3f5d7944922b7fa835f3e2fa279_1_0_2 in scene	[object_manager.py: 1238]
+05/25 16:15:37 WARNING: [Worker 0] Could not find object objadecorativetext_4b33cf70ffca4b95829bec5548eb00f1_1_0_2 in scene	[object_manager.py: 1238]
+05/25 16:15:37 WARNING: [Worker 0] Could not find object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_2 in scene	[object_manager.py: 1238]
+05/25 16:15:37 WARNING: [Worker 0] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_1_0_2 in scene	[object_manager.py: 1238]
+05/25 16:15:38 WARNING: [Worker 0] Could not find object objastopwatch_2d4d77ac85604a1ab61b934b19d301c8_1_0_9 in scene	[object_manager.py: 1238]
+05/25 16:15:38 WARNING: [Worker 0] Could not find object objadecorativecoil_ca64528b5f7b4a8092a2583ad8c7d929_1_0_9 in scene	[object_manager.py: 1238]
+05/25 16:15:38 WARNING: [Worker 0] Could not find object objaathleticshoe_506315076f224907879d7a5784101027_1_0_9 in scene	[object_manager.py: 1238]
+05/25 16:15:38 WARNING: [Worker 0] Could not find object objadecorativeemblem_f8d057c2a78849fba50e9187b7078874_1_0_9 in scene	[object_manager.py: 1238]
+05/25 16:15:38 WARNING: [Worker 0] Could not find object objadecorativeemblem_fb0d2054c66f4eda8d660e8fb1380766_1_0_9 in scene	[object_manager.py: 1238]
+05/25 16:15:39 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 16:19:19 INFO: [Worker 0] Worker 0 house 2457 episode 0 object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 16:19:23 INFO: [Worker 0] Batching and saving trajectory data for house_2457: 1 episodes	[pipeline.py: 233]
+05/25 16:19:23 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:19:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:19:26 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2457	[save_utils.py: 703]
+05/25 16:19:26 INFO: [Worker 0] Successfully saved trajectory data for house_2457 in 2.92s (batch: 2.78s, save: 0.14s)	[pipeline.py: 280]
+05/25 16:19:27 WARNING: [Worker 0] No trajectory data to save for house_2457	[pipeline.py: 229]
+05/25 16:19:27 INFO: [Worker 0] Worker 0 completed house 2457: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:19:27 INFO: [Worker 0] Worker 0 starting house 2495 (index 44/111)	[pipeline.py: 473]
+05/25 16:19:27 INFO: [Worker 0] Loaded 1 episodes for house 2495 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	[json_eval_runner.py: 278]
+05/25 16:19:27 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 16:19:30 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e12c29eb1cee488498343a20c503ed21	[json_eval_task_sampler.py: 648]
+05/25 16:19:30 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/45bb173c0384450487421b687bf3bf5b	[json_eval_task_sampler.py: 648]
+05/25 16:19:30 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bfcfd4c7bfa649259e047eb92e6a5c31	[json_eval_task_sampler.py: 648]
+05/25 16:19:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2495_ceiling.xml	[task_sampler.py: 797]
+05/25 16:19:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2495, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:19:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:19:36 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects	[json_eval_task_sampler.py: 686]
+05/25 16:19:36 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:19:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:19:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:19:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:19:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:19:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:19:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:19:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:19:36 INFO: [Worker 0] Sampled task 'Pick up the worn metal wrench with jaws and place it in or on the dark bowl'	[task_sampler.py: 1136]
+05/25 16:19:36 INFO: [Worker 0] Worker 0 house 2495 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:19:36 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:25:55 INFO: [Worker 0] Worker 0 house 2495 episode 0 object objawrench_14b5864d46514a54abd0e42203f37979_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 16:25:59 INFO: [Worker 0] Batching and saving trajectory data for house_2495: 1 episodes	[pipeline.py: 233]
+05/25 16:25:59 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:26:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:26:03 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2495	[save_utils.py: 703]
+05/25 16:26:03 INFO: [Worker 0] Successfully saved trajectory data for house_2495 in 3.22s (batch: 3.04s, save: 0.18s)	[pipeline.py: 280]
+05/25 16:26:03 WARNING: [Worker 0] No trajectory data to save for house_2495	[pipeline.py: 229]
+05/25 16:26:03 INFO: [Worker 0] Worker 0 completed house 2495: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:26:03 INFO: [Worker 0] Worker 0 starting house 2546 (index 45/111)	[pipeline.py: 473]
+05/25 16:26:03 INFO: [Worker 0] Loaded 1 episodes for house 2546 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	[json_eval_runner.py: 278]
+05/25 16:26:03 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 16:26:06 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/44f5be7685c1439c85cf9bc36e78578a	[json_eval_task_sampler.py: 648]
+05/25 16:26:06 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/f42af504c27649c78412bafd25665e46	[json_eval_task_sampler.py: 648]
+05/25 16:26:06 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0cb14e8a04de4c39ac8714a98fba9883	[json_eval_task_sampler.py: 648]
+05/25 16:26:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2546_ceiling.xml	[task_sampler.py: 797]
+05/25 16:26:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2546, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:26:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:26:10 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects	[json_eval_task_sampler.py: 686]
+05/25 16:26:10 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:26:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:26:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:26:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:26:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:26:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:26:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:26:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:26:10 INFO: [Worker 0] Sampled task 'Pick up the pixelated brown torch with flame and place it in or on the pink box'	[task_sampler.py: 1136]
+05/25 16:26:10 INFO: [Worker 0] Worker 0 house 2546 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:26:10 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:26:10 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_6 in scene	[object_manager.py: 1238]
+05/25 16:27:57 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 16:48:25 INFO: [Worker 0] Worker 0 house 2546 episode 0 object objatorch_e88c4214d4bc4437ae6d249237591071_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 16:48:28 INFO: [Worker 0] Batching and saving trajectory data for house_2546: 1 episodes	[pipeline.py: 233]
+05/25 16:48:29 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:48:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:48:32 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2546	[save_utils.py: 703]
+05/25 16:48:32 INFO: [Worker 0] Successfully saved trajectory data for house_2546 in 3.07s (batch: 2.90s, save: 0.17s)	[pipeline.py: 280]
+05/25 16:48:33 WARNING: [Worker 0] No trajectory data to save for house_2546	[pipeline.py: 229]
+05/25 16:48:33 INFO: [Worker 0] Worker 0 completed house 2546: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:48:33 INFO: [Worker 0] Worker 0 starting house 2591 (index 46/111)	[pipeline.py: 473]
+05/25 16:48:33 INFO: [Worker 0] Loaded 1 episodes for house 2591 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	[json_eval_runner.py: 278]
+05/25 16:48:33 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 16:48:34 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a5b29a29005041dca3d8bfbc8c57c7e2	[json_eval_task_sampler.py: 648]
+05/25 16:48:34 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_7	[json_eval_task_sampler.py: 648]
+05/25 16:48:34 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bf83213efac34b3cb2ad6ac5ddaf05d9	[json_eval_task_sampler.py: 648]
+05/25 16:48:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2591_ceiling.xml	[task_sampler.py: 797]
+05/25 16:48:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2591, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:48:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:48:39 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects	[json_eval_task_sampler.py: 686]
+05/25 16:48:39 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:48:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:48:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:48:39 INFO: [Worker 0] Sampled task 'Pick up the turquoise rectangular tag with white text and place it in or on the round stone bowl with uneven rim'	[task_sampler.py: 1136]
+05/25 16:48:39 INFO: [Worker 0] Worker 0 house 2591 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:48:39 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:48:40 WARNING: [Worker 0] Could not find object objaheadband_a45e0fe1df584ab4b49c35ef88bd90b0_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:48:40 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:48:41 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 16:54:13 INFO: [Worker 0] Worker 0 house 2591 episode 0 object objatag_e10204b8c0914cffbe7acd591d87867e_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 16:54:17 INFO: [Worker 0] Batching and saving trajectory data for house_2591: 1 episodes	[pipeline.py: 233]
+05/25 16:54:17 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:54:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:54:20 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2591	[save_utils.py: 703]
+05/25 16:54:20 INFO: [Worker 0] Successfully saved trajectory data for house_2591 in 3.24s (batch: 3.10s, save: 0.14s)	[pipeline.py: 280]
+05/25 16:54:21 WARNING: [Worker 0] No trajectory data to save for house_2591	[pipeline.py: 229]
+05/25 16:54:21 INFO: [Worker 0] Worker 0 completed house 2591: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:54:21 INFO: [Worker 0] Worker 0 starting house 2605 (index 47/111)	[pipeline.py: 473]
+05/25 16:54:21 INFO: [Worker 0] Loaded 2 episodes for house 2605 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	[json_eval_runner.py: 278]
+05/25 16:54:21 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 16:54:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1e4b75a1bb484c42b99fcd3ddf23ae9f	[json_eval_task_sampler.py: 648]
+05/25 16:54:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/659e6917a5b145fc88b46882fde3764d	[json_eval_task_sampler.py: 648]
+05/25 16:54:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/660bfdd0e9144271acdc116632297395	[json_eval_task_sampler.py: 648]
+05/25 16:54:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2605_ceiling.xml	[task_sampler.py: 797]
+05/25 16:54:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2605, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:54:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:54:25 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects	[json_eval_task_sampler.py: 686]
+05/25 16:54:25 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:54:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:54:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:54:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:54:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:54:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:54:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:54:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:54:25 INFO: [Worker 0] Sampled task 'Pick up the green circuit board and place it in or on the elegant blue bowl with gold rim'	[task_sampler.py: 1136]
+05/25 16:54:25 INFO: [Worker 0] Worker 0 house 2605 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 16:54:25 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:56:40 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 17:02:56 INFO: [Worker 0] Worker 0 house 2605 episode 0 object objadigitalclockcircuitboard_4fc8250f5a2c4f0699a2852d7482c0f8_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 17:03:00 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]
+05/25 17:03:01 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1e4b75a1bb484c42b99fcd3ddf23ae9f	[json_eval_task_sampler.py: 648]
+05/25 17:03:01 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/659e6917a5b145fc88b46882fde3764d	[json_eval_task_sampler.py: 648]
+05/25 17:03:01 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/660bfdd0e9144271acdc116632297395	[json_eval_task_sampler.py: 648]
+05/25 17:03:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2605_ceiling.xml	[task_sampler.py: 797]
+05/25 17:03:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2605, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:03:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:03:05 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects	[json_eval_task_sampler.py: 686]
+05/25 17:03:05 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:03:05 INFO: [Worker 0] Sampled task 'Pick up the red and black rifle and place it in or on the wooden bowl'	[task_sampler.py: 1136]
+05/25 17:03:05 INFO: [Worker 0] Worker 0 house 2605 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 17:03:06 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:10:55 INFO: [Worker 0] Worker 0 house 2605 episode 1 object objatoyrifle_48c8d8b54d854759a1c603c0bec0b6ac_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 17:11:00 INFO: [Worker 0] Batching and saving trajectory data for house_2605: 2 episodes	[pipeline.py: 233]
+05/25 17:11:00 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:11:04 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:11:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:11:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:11:08 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2605	[save_utils.py: 703]
+05/25 17:11:08 INFO: [Worker 0] Successfully saved trajectory data for house_2605 in 8.23s (batch: 7.94s, save: 0.29s)	[pipeline.py: 280]
+05/25 17:11:09 WARNING: [Worker 0] No trajectory data to save for house_2605	[pipeline.py: 229]
+05/25 17:11:09 INFO: [Worker 0] Worker 0 completed house 2605: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 17:11:09 INFO: [Worker 0] Worker 0 starting house 2638 (index 48/111)	[pipeline.py: 473]
+05/25 17:11:09 INFO: [Worker 0] Loaded 1 episodes for house 2638 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	[json_eval_runner.py: 278]
+05/25 17:11:09 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 17:11:11 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/af624cab76c04bec86f0c928207797d8	[json_eval_task_sampler.py: 648]
+05/25 17:11:11 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/675213cdb6eb4b8ab4ca565f2e7f4fc4	[json_eval_task_sampler.py: 648]
+05/25 17:11:11 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/94f253a91bc14f21be83592faf5891ff	[json_eval_task_sampler.py: 648]
+05/25 17:11:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2638_ceiling.xml	[task_sampler.py: 797]
+05/25 17:11:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2638, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:11:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:11:15 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects	[json_eval_task_sampler.py: 686]
+05/25 17:11:15 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:11:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:11:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:11:15 INFO: [Worker 0] Sampled task 'Pick up the small blue spiral-bound desk calendar and place it in or on the gray bowl'	[task_sampler.py: 1136]
+05/25 17:11:15 INFO: [Worker 0] Worker 0 house 2638 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:11:15 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:11:17 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 17:12:47 INFO: [Worker 0] Worker 0 house 2638 episode 0 object objadeskcalendar_af79a9504f2b44a881de51b09b26ead8_1_0_4 completed with success=True	[pipeline.py: 1114]
+05/25 17:12:50 INFO: [Worker 0] Batching and saving trajectory data for house_2638: 1 episodes	[pipeline.py: 233]
+05/25 17:12:50 INFO: [Worker 0] Preparing episode data: 128 timesteps	[save_utils.py: 284]
+05/25 17:12:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:12:53 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2638	[save_utils.py: 703]
+05/25 17:12:53 INFO: [Worker 0] Successfully saved trajectory data for house_2638 in 2.60s (batch: 2.52s, save: 0.08s)	[pipeline.py: 280]
+05/25 17:12:54 WARNING: [Worker 0] No trajectory data to save for house_2638	[pipeline.py: 229]
+05/25 17:12:54 INFO: [Worker 0] Worker 0 completed house 2638: 1/1 successful episodes	[pipeline.py: 1243]
+05/25 17:12:54 INFO: [Worker 0] Worker 0 starting house 2709 (index 49/111)	[pipeline.py: 473]
+05/25 17:12:54 INFO: [Worker 0] Loaded 1 episodes for house 2709 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	[json_eval_runner.py: 278]
+05/25 17:12:54 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 17:13:06 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9ed70e7516894535a9e208904f8db364	[json_eval_task_sampler.py: 648]
+05/25 17:13:06 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/54c702aeeb634157ab6bfd6c2f7a78c2	[json_eval_task_sampler.py: 648]
+05/25 17:13:06 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/fe6a6e9cf17545179f8c6b81e5499b46	[json_eval_task_sampler.py: 648]
+05/25 17:13:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2709_ceiling.xml	[task_sampler.py: 797]
+05/25 17:13:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2709, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:13:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:13:11 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects	[json_eval_task_sampler.py: 686]
+05/25 17:13:11 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:13:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:13:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:13:11 INFO: [Worker 0] Sampled task 'Pick up the bullet with brass casing and tip and place it in or on the rustic stone bowl with bird spout'	[task_sampler.py: 1136]
+05/25 17:13:11 INFO: [Worker 0] Worker 0 house 2709 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:13:11 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:20:33 INFO: [Worker 0] Worker 0 house 2709 episode 0 object objabullet_d0b36b132d384065a1773cc574d9ea03_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 17:20:37 INFO: [Worker 0] Batching and saving trajectory data for house_2709: 1 episodes	[pipeline.py: 233]
+05/25 17:20:37 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:20:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:20:40 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2709	[save_utils.py: 703]
+05/25 17:20:40 INFO: [Worker 0] Successfully saved trajectory data for house_2709 in 3.34s (batch: 3.22s, save: 0.12s)	[pipeline.py: 280]
+05/25 17:20:41 WARNING: [Worker 0] No trajectory data to save for house_2709	[pipeline.py: 229]
+05/25 17:20:41 INFO: [Worker 0] Worker 0 completed house 2709: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:20:41 INFO: [Worker 0] Worker 0 starting house 2756 (index 50/111)	[pipeline.py: 473]
+05/25 17:20:41 INFO: [Worker 0] Loaded 1 episodes for house 2756 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	[json_eval_runner.py: 278]
+05/25 17:20:41 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]
+05/25 17:20:46 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/DecorativeBox2	[json_eval_task_sampler.py: 648]
+05/25 17:20:46 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_18	[json_eval_task_sampler.py: 648]
+05/25 17:20:46 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/906fdc79f5d84e8e8b3b467e794a8c00	[json_eval_task_sampler.py: 648]
+05/25 17:20:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2756_ceiling.xml	[task_sampler.py: 797]
+05/25 17:20:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2756, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:20:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:20:49 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects	[json_eval_task_sampler.py: 686]
+05/25 17:20:49 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:20:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:20:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:20:49 INFO: [Worker 0] Sampled task 'Pick up the green soldering iron with pointed tip and place it in or on the colorful ceramic bowl with bird'	[task_sampler.py: 1136]
+05/25 17:20:49 INFO: [Worker 0] Worker 0 house 2756 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:20:49 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:24:12 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 17:29:17 INFO: [Worker 0] Worker 0 house 2756 episode 0 object objasolderingiron_546768c389ef4a85b633142fb0f49abb_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 17:29:21 INFO: [Worker 0] Batching and saving trajectory data for house_2756: 1 episodes	[pipeline.py: 233]
+05/25 17:29:21 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:29:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:29:24 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2756	[save_utils.py: 703]
+05/25 17:29:24 INFO: [Worker 0] Successfully saved trajectory data for house_2756 in 2.97s (batch: 2.82s, save: 0.15s)	[pipeline.py: 280]
+05/25 17:29:24 WARNING: [Worker 0] No trajectory data to save for house_2756	[pipeline.py: 229]
+05/25 17:29:24 INFO: [Worker 0] Worker 0 completed house 2756: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:29:24 INFO: [Worker 0] Worker 0 starting house 2792 (index 51/111)	[pipeline.py: 473]
+05/25 17:29:24 INFO: [Worker 0] Loaded 1 episodes for house 2792 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	[json_eval_runner.py: 278]
+05/25 17:29:24 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 17:30:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_12	[json_eval_task_sampler.py: 648]
+05/25 17:30:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_14	[json_eval_task_sampler.py: 648]
+05/25 17:30:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/cbb67bbbe42e42189931574ce0d4926d	[json_eval_task_sampler.py: 648]
+05/25 17:30:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2792_ceiling.xml	[task_sampler.py: 797]
+05/25 17:30:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2792, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:30:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:30:14 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects	[json_eval_task_sampler.py: 686]
+05/25 17:30:14 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:30:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:30:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:30:14 INFO: [Worker 0] Sampled task 'Pick up the hikingshoe and place it in or on the dark gray matte bowl with ridges'	[task_sampler.py: 1136]
+05/25 17:30:14 INFO: [Worker 0] Worker 0 house 2792 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:30:14 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:30:15 WARNING: [Worker 0] Could not find object objadecorativestoneplaque_7fc5390ada9e4965ab984dbc1200737a_1_0_5 in scene	[object_manager.py: 1238]
+05/25 17:30:15 WARNING: [Worker 0] Could not find object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_5 in scene	[object_manager.py: 1238]
+05/25 17:30:15 WARNING: [Worker 0] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_5 in scene	[object_manager.py: 1238]
+05/25 17:30:15 WARNING: [Worker 0] Could not find object objatube_65b148a1480846e08e5ce03164d4c012_1_0_7 in scene	[object_manager.py: 1238]
+05/25 17:30:15 WARNING: [Worker 0] Could not find object objaminiaturebuilding_741017840b6943e3809e6ed91612773d_1_0_7 in scene	[object_manager.py: 1238]
+05/25 17:32:11 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 17:36:31 INFO: [Worker 0] Worker 0 house 2792 episode 0 object objahikingshoe_463cca357bac4026ab74d535d7da639b_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 17:36:36 INFO: [Worker 0] Batching and saving trajectory data for house_2792: 1 episodes	[pipeline.py: 233]
+05/25 17:36:36 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:36:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:36:39 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2792	[save_utils.py: 703]
+05/25 17:36:39 INFO: [Worker 0] Successfully saved trajectory data for house_2792 in 3.07s (batch: 2.91s, save: 0.16s)	[pipeline.py: 280]
+05/25 17:36:39 WARNING: [Worker 0] No trajectory data to save for house_2792	[pipeline.py: 229]
+05/25 17:36:39 INFO: [Worker 0] Worker 0 completed house 2792: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:36:39 INFO: [Worker 0] Worker 0 starting house 2858 (index 52/111)	[pipeline.py: 473]
+05/25 17:36:39 INFO: [Worker 0] Loaded 1 episodes for house 2858 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	[json_eval_runner.py: 278]
+05/25 17:36:39 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 17:37:00 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/54c702aeeb634157ab6bfd6c2f7a78c2	[json_eval_task_sampler.py: 648]
+05/25 17:37:00 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_30	[json_eval_task_sampler.py: 648]
+05/25 17:37:00 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ede795f1c6f74a99b6952183f340fcb8	[json_eval_task_sampler.py: 648]
+05/25 17:37:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2858_ceiling.xml	[task_sampler.py: 797]
+05/25 17:37:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2858, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:37:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:37:05 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects	[json_eval_task_sampler.py: 686]
+05/25 17:37:05 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:37:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:37:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:37:05 INFO: [Worker 0] Sampled task 'Pick up the golden pixelated retro pocket watch and place it in or on the shallow green bowl'	[task_sampler.py: 1136]
+05/25 17:37:05 INFO: [Worker 0] Worker 0 house 2858 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:37:05 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:39:28 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 17:48:55 INFO: [Worker 0] Worker 0 house 2858 episode 0 object objapocketwatch_c9414c6ccaf64384830c13d2819adaa8_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 17:49:00 INFO: [Worker 0] Batching and saving trajectory data for house_2858: 1 episodes	[pipeline.py: 233]
+05/25 17:49:00 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:49:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:49:04 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2858	[save_utils.py: 703]
+05/25 17:49:04 INFO: [Worker 0] Successfully saved trajectory data for house_2858 in 3.53s (batch: 3.38s, save: 0.15s)	[pipeline.py: 280]
+05/25 17:49:04 WARNING: [Worker 0] No trajectory data to save for house_2858	[pipeline.py: 229]
+05/25 17:49:04 INFO: [Worker 0] Worker 0 completed house 2858: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:49:04 INFO: [Worker 0] Worker 0 starting house 2933 (index 53/111)	[pipeline.py: 473]
+05/25 17:49:04 INFO: [Worker 0] Loaded 1 episodes for house 2933 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	[json_eval_runner.py: 278]
+05/25 17:49:04 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]
+05/25 17:49:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/675213cdb6eb4b8ab4ca565f2e7f4fc4	[json_eval_task_sampler.py: 648]
+05/25 17:49:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0aab5f2a6f744c13bffef0fccf53c0e0	[json_eval_task_sampler.py: 648]
+05/25 17:49:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_28	[json_eval_task_sampler.py: 648]
+05/25 17:49:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2933_ceiling.xml	[task_sampler.py: 797]
+05/25 17:49:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2933, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:49:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:49:08 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects	[json_eval_task_sampler.py: 686]
+05/25 17:49:08 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:49:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:49:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:49:08 INFO: [Worker 0] Sampled task 'Pick up the pocketwatch and place it in or on the white bowl'	[task_sampler.py: 1136]
+05/25 17:49:08 INFO: [Worker 0] Worker 0 house 2933 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:49:08 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:49:08 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_2 in scene	[object_manager.py: 1238]
+05/25 17:49:08 WARNING: [Worker 0] Could not find object objaminiaturebuilding_3499f1297cc144bc9cc59a8194742da3_1_0_3 in scene	[object_manager.py: 1238]
+05/25 17:51:41 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 17:55:35 INFO: [Worker 0] Worker 0 house 2933 episode 0 object objapocketwatch_6fa91631177741b1949a4823b21c75bf_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 17:55:39 INFO: [Worker 0] Batching and saving trajectory data for house_2933: 1 episodes	[pipeline.py: 233]
+05/25 17:55:39 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:55:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:55:42 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2933	[save_utils.py: 703]
+05/25 17:55:42 INFO: [Worker 0] Successfully saved trajectory data for house_2933 in 3.13s (batch: 2.95s, save: 0.18s)	[pipeline.py: 280]
+05/25 17:55:43 WARNING: [Worker 0] No trajectory data to save for house_2933	[pipeline.py: 229]
+05/25 17:55:43 INFO: [Worker 0] Worker 0 completed house 2933: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:55:43 INFO: [Worker 0] Worker 0 starting house 2935 (index 54/111)	[pipeline.py: 473]
+05/25 17:55:43 INFO: [Worker 0] Loaded 2 episodes for house 2935 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	[json_eval_runner.py: 278]
+05/25 17:55:43 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 17:55:57 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f486de07c6f347588bcd3d22456f328d	[json_eval_task_sampler.py: 648]
+05/25 17:55:57 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d318587cfc624b18b52a3a7fb7124373	[json_eval_task_sampler.py: 648]
+05/25 17:55:57 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ac3628478f6c4042a16e77d6753fa413	[json_eval_task_sampler.py: 648]
+05/25 17:55:58 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 17:56:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2935_ceiling.xml	[task_sampler.py: 797]
+05/25 17:56:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2935, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:56:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:56:02 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects	[json_eval_task_sampler.py: 686]
+05/25 17:56:02 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:56:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:56:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:56:02 INFO: [Worker 0] Sampled task 'Pick up the orange envelope with currency seal and place it in or on the white tray with blue compartment'	[task_sampler.py: 1136]
+05/25 17:56:02 INFO: [Worker 0] Worker 0 house 2935 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 17:56:02 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:56:03 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene	[object_manager.py: 1238]
+05/25 18:06:14 INFO: [Worker 0] Worker 0 house 2935 episode 0 object objaenvelope_321bc258ef67468cbc2377bb48782f4a_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 18:06:20 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 18:06:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f486de07c6f347588bcd3d22456f328d	[json_eval_task_sampler.py: 648]
+05/25 18:06:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d318587cfc624b18b52a3a7fb7124373	[json_eval_task_sampler.py: 648]
+05/25 18:06:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ac3628478f6c4042a16e77d6753fa413	[json_eval_task_sampler.py: 648]
+05/25 18:06:22 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 18:06:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2935_ceiling.xml	[task_sampler.py: 797]
+05/25 18:06:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2935, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 18:06:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 18:06:27 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects	[json_eval_task_sampler.py: 686]
+05/25 18:06:27 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 18:06:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 18:06:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 18:06:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 18:06:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 18:06:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 18:06:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 18:06:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 18:06:27 INFO: [Worker 0] Sampled task 'Pick up the coffeepot and place it in or on the round bowl with painted insects'	[task_sampler.py: 1136]
+05/25 18:06:27 INFO: [Worker 0] Worker 0 house 2935 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 18:06:27 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:06:27 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene	[object_manager.py: 1238]
+05/25 18:09:33 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 18:31:30 INFO: [Worker 0] Worker 0 house 2935 episode 1 object objamokapot_afffbeed1953417d892340f3d0814873_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 18:31:35 INFO: [Worker 0] Batching and saving trajectory data for house_2935: 2 episodes	[pipeline.py: 233]
+05/25 18:31:35 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:31:38 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:31:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:31:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:31:42 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2935	[save_utils.py: 703]
+05/25 18:31:42 INFO: [Worker 0] Successfully saved trajectory data for house_2935 in 6.91s (batch: 6.52s, save: 0.39s)	[pipeline.py: 280]
+05/25 18:31:43 WARNING: [Worker 0] No trajectory data to save for house_2935	[pipeline.py: 229]
+05/25 18:31:43 INFO: [Worker 0] Worker 0 completed house 2935: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 18:31:43 INFO: [Worker 0] Worker 0 starting house 2997 (index 55/111)	[pipeline.py: 473]
+05/25 18:31:43 INFO: [Worker 0] Loaded 1 episodes for house 2997 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	[json_eval_runner.py: 278]
+05/25 18:31:43 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 18:31:52 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/39afab89520c460598805c0a6bad291c	[json_eval_task_sampler.py: 648]
+05/25 18:31:52 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_5	[json_eval_task_sampler.py: 648]
+05/25 18:31:52 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bfdeafe4916c421e91dce2acb972d0f8	[json_eval_task_sampler.py: 648]
+05/25 18:31:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2997_ceiling.xml	[task_sampler.py: 797]
+05/25 18:31:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2997, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 18:31:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 18:31:55 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects	[json_eval_task_sampler.py: 686]
+05/25 18:31:55 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 18:31:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 18:31:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 18:31:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 18:31:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 18:31:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 18:31:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 18:31:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 18:31:55 INFO: [Worker 0] Sampled task 'Pick up the dark metal chisel and place it in or on the metal tray'	[task_sampler.py: 1136]
+05/25 18:31:55 INFO: [Worker 0] Worker 0 house 2997 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 18:31:55 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:31:56 WARNING: [Worker 0] Could not find object objamap_2f1c0f91ee594223935adbbdc9acd663_1_0_6 in scene	[object_manager.py: 1238]
+05/25 18:31:56 WARNING: [Worker 0] Could not find object objadecorativemolding_91d8bf6e71fa4410842eee24b719a1bb_1_0_6 in scene	[object_manager.py: 1238]
+05/25 18:34:22 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 18:38:17 INFO: [Worker 0] Worker 0 house 2997 episode 0 object objachisel_d02e673a43fd4d5a8bdf76ff0bd60dbf_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 18:38:22 INFO: [Worker 0] Batching and saving trajectory data for house_2997: 1 episodes	[pipeline.py: 233]
+05/25 18:38:22 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:38:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:38:27 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2997	[save_utils.py: 703]
+05/25 18:38:27 INFO: [Worker 0] Successfully saved trajectory data for house_2997 in 4.36s (batch: 4.18s, save: 0.18s)	[pipeline.py: 280]
+05/25 18:38:27 WARNING: [Worker 0] No trajectory data to save for house_2997	[pipeline.py: 229]
+05/25 18:38:27 INFO: [Worker 0] Worker 0 completed house 2997: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 18:38:27 INFO: [Worker 0] Worker 0 starting house 3076 (index 56/111)	[pipeline.py: 473]
+05/25 18:38:27 INFO: [Worker 0] Loaded 1 episodes for house 3076 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	[json_eval_runner.py: 278]
+05/25 18:38:27 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 18:38:43 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/03fa6768245446f4bab866db37a6caec	[json_eval_task_sampler.py: 648]
+05/25 18:38:43 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_18	[json_eval_task_sampler.py: 648]
+05/25 18:38:43 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a37c32fbdbbb4ab19c8b1cccc557f52d	[json_eval_task_sampler.py: 648]
+05/25 18:38:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3076_ceiling.xml	[task_sampler.py: 797]
+05/25 18:38:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3076, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 18:38:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 18:38:47 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects	[json_eval_task_sampler.py: 686]
+05/25 18:38:47 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 18:38:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 18:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 18:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 18:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 18:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 18:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 18:38:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 18:38:47 INFO: [Worker 0] Sampled task 'Pick up the shiny metallic wing nut and place it in or on the ceramic bowl filled with rice and peas'	[task_sampler.py: 1136]
+05/25 18:38:47 INFO: [Worker 0] Worker 0 house 3076 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 18:38:47 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:38:47 WARNING: [Worker 0] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene	[object_manager.py: 1238]
+05/25 18:38:47 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene	[object_manager.py: 1238]
+05/25 18:38:47 WARNING: [Worker 0] Could not find object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_9 in scene	[object_manager.py: 1238]
+05/25 18:38:47 WARNING: [Worker 0] Could not find object plate_f173a2971da306df672f184bdba65217_1_0_9 in scene	[object_manager.py: 1238]
+05/25 18:42:24 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 18:49:19 INFO: [Worker 0] Worker 0 house 3076 episode 0 object objawingnutbolt_4da974219b8b4e15b4f957f590653430_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 18:49:24 INFO: [Worker 0] Batching and saving trajectory data for house_3076: 1 episodes	[pipeline.py: 233]
+05/25 18:49:24 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:49:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:49:29 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3076	[save_utils.py: 703]
+05/25 18:49:29 INFO: [Worker 0] Successfully saved trajectory data for house_3076 in 4.58s (batch: 4.37s, save: 0.21s)	[pipeline.py: 280]
+05/25 18:49:30 WARNING: [Worker 0] No trajectory data to save for house_3076	[pipeline.py: 229]
+05/25 18:49:30 INFO: [Worker 0] Worker 0 completed house 3076: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 18:49:30 INFO: [Worker 0] Worker 0 starting house 3123 (index 57/111)	[pipeline.py: 473]
+05/25 18:49:30 INFO: [Worker 0] Loaded 1 episodes for house 3123 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	[json_eval_runner.py: 278]
+05/25 18:49:30 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 18:49:34 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/496bd9f05a714e608a41a24b169937f6	[json_eval_task_sampler.py: 648]
+05/25 18:49:34 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/292913530b1c41709ffc8685fbb9d55a	[json_eval_task_sampler.py: 648]
+05/25 18:49:34 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/48272cae86364aa0995e70658330c0a9	[json_eval_task_sampler.py: 648]
+05/25 18:49:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3123_ceiling.xml	[task_sampler.py: 797]
+05/25 18:49:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3123, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 18:49:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 18:49:40 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects	[json_eval_task_sampler.py: 686]
+05/25 18:49:40 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 18:49:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 18:49:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 18:49:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 18:49:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 18:49:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 18:49:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 18:49:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 18:49:40 INFO: [Worker 0] Sampled task 'Pick up the dark metallic spike and place it in or on the square ashtray'	[task_sampler.py: 1136]
+05/25 18:49:40 INFO: [Worker 0] Worker 0 house 3123 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 18:49:41 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:49:41 WARNING: [Worker 0] Could not find object objadecorativelighthouse_e8bb24878c544adcb484f431f4c9790e_1_0_9 in scene	[object_manager.py: 1238]
+05/25 18:49:41 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_9 in scene	[object_manager.py: 1238]
+05/25 19:01:11 INFO: [Worker 0] Worker 0 house 3123 episode 0 object objaspike_83319300b32146acb05bc100c095ebb5_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 19:01:16 INFO: [Worker 0] Batching and saving trajectory data for house_3123: 1 episodes	[pipeline.py: 233]
+05/25 19:01:16 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:01:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:01:19 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3123	[save_utils.py: 703]
+05/25 19:01:19 INFO: [Worker 0] Successfully saved trajectory data for house_3123 in 3.34s (batch: 3.17s, save: 0.17s)	[pipeline.py: 280]
+05/25 19:01:20 WARNING: [Worker 0] No trajectory data to save for house_3123	[pipeline.py: 229]
+05/25 19:01:20 INFO: [Worker 0] Worker 0 completed house 3123: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:01:20 INFO: [Worker 0] Worker 0 starting house 3186 (index 58/111)	[pipeline.py: 473]
+05/25 19:01:20 INFO: [Worker 0] Loaded 1 episodes for house 3186 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	[json_eval_runner.py: 278]
+05/25 19:01:20 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 19:01:40 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_27	[json_eval_task_sampler.py: 648]
+05/25 19:01:40 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c44ac768e7304df58ebf13ba4c6eed11	[json_eval_task_sampler.py: 648]
+05/25 19:01:40 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/93ef7da87b1e43fbb47f3b26b927f777	[json_eval_task_sampler.py: 648]
+05/25 19:01:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3186_ceiling.xml	[task_sampler.py: 797]
+05/25 19:01:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3186, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:01:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:01:46 INFO: [Worker 0] randomize_scene: Setting poses for 89 objects	[json_eval_task_sampler.py: 686]
+05/25 19:01:47 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:01:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:01:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:01:47 INFO: [Worker 0] Sampled task 'Pick up the medieval soldier holding spear and shield and place it in or on the dark medium cooking pot'	[task_sampler.py: 1136]
+05/25 19:01:47 INFO: [Worker 0] Worker 0 house 3186 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:01:47 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:05:01 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 19:11:21 INFO: [Worker 0] Worker 0 house 3186 episode 0 object objatoysoldier_51cc0a9a291e4cd0bacdc34428c3ee58_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 19:11:25 INFO: [Worker 0] Batching and saving trajectory data for house_3186: 1 episodes	[pipeline.py: 233]
+05/25 19:11:25 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:11:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:11:28 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3186	[save_utils.py: 703]
+05/25 19:11:28 INFO: [Worker 0] Successfully saved trajectory data for house_3186 in 2.67s (batch: 2.55s, save: 0.11s)	[pipeline.py: 280]
+05/25 19:11:28 WARNING: [Worker 0] No trajectory data to save for house_3186	[pipeline.py: 229]
+05/25 19:11:28 INFO: [Worker 0] Worker 0 completed house 3186: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:11:28 INFO: [Worker 0] Worker 0 starting house 3272 (index 59/111)	[pipeline.py: 473]
+05/25 19:11:28 INFO: [Worker 0] Loaded 1 episodes for house 3272 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	[json_eval_runner.py: 278]
+05/25 19:11:28 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 19:11:41 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_13	[json_eval_task_sampler.py: 648]
+05/25 19:11:41 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_17	[json_eval_task_sampler.py: 648]
+05/25 19:11:41 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/4b5c2f816e814756960ac3be616fd29d	[json_eval_task_sampler.py: 648]
+05/25 19:11:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3272_ceiling.xml	[task_sampler.py: 797]
+05/25 19:11:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3272, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:11:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:11:46 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects	[json_eval_task_sampler.py: 686]
+05/25 19:11:46 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:11:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:11:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:11:46 INFO: [Worker 0] Sampled task 'Pick up the metal wrench and place it in or on the small blue decorative ceramic bottle'	[task_sampler.py: 1136]
+05/25 19:11:46 INFO: [Worker 0] Worker 0 house 3272 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:11:46 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:14:06 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 19:18:59 INFO: [Worker 0] Worker 0 house 3272 episode 0 object objawrench_5bf781c9fd8d4121b735503b13ba2eaf_2_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 19:19:03 INFO: [Worker 0] Batching and saving trajectory data for house_3272: 1 episodes	[pipeline.py: 233]
+05/25 19:19:03 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:19:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:19:06 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3272	[save_utils.py: 703]
+05/25 19:19:06 INFO: [Worker 0] Successfully saved trajectory data for house_3272 in 2.96s (batch: 2.82s, save: 0.14s)	[pipeline.py: 280]
+05/25 19:19:06 WARNING: [Worker 0] No trajectory data to save for house_3272	[pipeline.py: 229]
+05/25 19:19:06 INFO: [Worker 0] Worker 0 completed house 3272: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:19:06 INFO: [Worker 0] Worker 0 starting house 3303 (index 60/111)	[pipeline.py: 473]
+05/25 19:19:06 INFO: [Worker 0] Loaded 1 episodes for house 3303 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	[json_eval_runner.py: 278]
+05/25 19:19:06 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 19:19:21 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0564efdff76649c48c0c41b49dd6a25e	[json_eval_task_sampler.py: 648]
+05/25 19:19:21 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_6	[json_eval_task_sampler.py: 648]
+05/25 19:19:21 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/836b48b21dcb4842a208c66f106abf18	[json_eval_task_sampler.py: 648]
+05/25 19:19:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3303_ceiling.xml	[task_sampler.py: 797]
+05/25 19:19:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3303, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:19:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:19:26 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects	[json_eval_task_sampler.py: 686]
+05/25 19:19:26 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:19:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:19:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:19:26 INFO: [Worker 0] Sampled task 'Pick up the beige hinge and place it in or on the black bowl with grid'	[task_sampler.py: 1136]
+05/25 19:19:26 INFO: [Worker 0] Worker 0 house 3303 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:19:26 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:19:26 WARNING: [Worker 0] Could not find object objadecorativemedallion_b98572347288400e94f8d793e6890aaa_1_0_4 in scene	[object_manager.py: 1238]
+05/25 19:19:26 WARNING: [Worker 0] Could not find object objateacup_44651f3242bb42bfbc27c7205ff609ce_1_0_4 in scene	[object_manager.py: 1238]
+05/25 19:19:26 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene	[object_manager.py: 1238]
+05/25 19:22:12 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 19:27:56 INFO: [Worker 0] Worker 0 house 3303 episode 0 object objahinge_895a45f38d914113826237d647dcbc85_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 19:28:00 INFO: [Worker 0] Batching and saving trajectory data for house_3303: 1 episodes	[pipeline.py: 233]
+05/25 19:28:00 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:28:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:28:04 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3303	[save_utils.py: 703]
+05/25 19:28:04 INFO: [Worker 0] Successfully saved trajectory data for house_3303 in 3.23s (batch: 3.07s, save: 0.16s)	[pipeline.py: 280]
+05/25 19:28:04 WARNING: [Worker 0] No trajectory data to save for house_3303	[pipeline.py: 229]
+05/25 19:28:04 INFO: [Worker 0] Worker 0 completed house 3303: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:28:04 INFO: [Worker 0] Worker 0 starting house 3322 (index 61/111)	[pipeline.py: 473]
+05/25 19:28:04 INFO: [Worker 0] Loaded 1 episodes for house 3322 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	[json_eval_runner.py: 278]
+05/25 19:28:04 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]
+05/25 19:28:26 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bfae6fa9a7f64b9eb16f57c05553c612	[json_eval_task_sampler.py: 648]
+05/25 19:28:26 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/50be4f8b8f744730878916aa38b0f08f	[json_eval_task_sampler.py: 648]
+05/25 19:28:26 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0	[json_eval_task_sampler.py: 648]
+05/25 19:28:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3322_ceiling.xml	[task_sampler.py: 797]
+05/25 19:28:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3322, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:28:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:28:30 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects	[json_eval_task_sampler.py: 686]
+05/25 19:28:30 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:28:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:28:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:28:30 INFO: [Worker 0] Sampled task 'Pick up the brown potato and place it in or on the brown wooden leaf tray'	[task_sampler.py: 1136]
+05/25 19:28:30 INFO: [Worker 0] Worker 0 house 3322 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:28:30 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:28:30 WARNING: [Worker 0] Could not find object objadecorativebottle_7e790577849a414da6e718af2dc40bc1_1_0_6 in scene	[object_manager.py: 1238]
+05/25 19:28:30 WARNING: [Worker 0] Could not find object objasteamiron_7dc6eeb22d424534b45783fbe997b302_1_0_6 in scene	[object_manager.py: 1238]
+05/25 19:28:30 WARNING: [Worker 0] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 in scene	[object_manager.py: 1238]
+05/25 19:35:12 INFO: [Worker 0] Worker 0 house 3322 episode 0 object Irishpotato_79d7b83ab8abb1f68fd09a28e13fdf67_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 19:35:17 INFO: [Worker 0] Batching and saving trajectory data for house_3322: 1 episodes	[pipeline.py: 233]
+05/25 19:35:17 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:35:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:35:20 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3322	[save_utils.py: 703]
+05/25 19:35:20 INFO: [Worker 0] Successfully saved trajectory data for house_3322 in 3.44s (batch: 3.23s, save: 0.20s)	[pipeline.py: 280]
+05/25 19:35:21 WARNING: [Worker 0] No trajectory data to save for house_3322	[pipeline.py: 229]
+05/25 19:35:21 INFO: [Worker 0] Worker 0 completed house 3322: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:35:21 INFO: [Worker 0] Worker 0 starting house 3361 (index 62/111)	[pipeline.py: 473]
+05/25 19:35:21 INFO: [Worker 0] Loaded 1 episodes for house 3361 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	[json_eval_runner.py: 278]
+05/25 19:35:21 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 19:36:11 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/08dd440442874c8e8ae35494b4aff0a2	[json_eval_task_sampler.py: 648]
+05/25 19:36:11 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0aab5f2a6f744c13bffef0fccf53c0e0	[json_eval_task_sampler.py: 648]
+05/25 19:36:11 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/27dd012c10e64049b8ca900fe86f077f	[json_eval_task_sampler.py: 648]
+05/25 19:36:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3361_ceiling.xml	[task_sampler.py: 797]
+05/25 19:36:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3361, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:36:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:36:16 INFO: [Worker 0] randomize_scene: Setting poses for 69 objects	[json_eval_task_sampler.py: 686]
+05/25 19:36:16 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:36:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:36:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:36:16 INFO: [Worker 0] Sampled task 'Pick up the cigarette lighter and place it in or on the white ceramic bowl with chicken salad'	[task_sampler.py: 1136]
+05/25 19:36:16 INFO: [Worker 0] Worker 0 house 3361 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:36:16 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:38:31 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]
+05/25 19:44:58 INFO: [Worker 0] Worker 0 house 3361 episode 0 object objalighter_62160b39425049e48efc57e13efd004d_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 19:45:03 INFO: [Worker 0] Batching and saving trajectory data for house_3361: 1 episodes	[pipeline.py: 233]
+05/25 19:45:03 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:45:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:45:07 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3361	[save_utils.py: 703]
+05/25 19:45:07 INFO: [Worker 0] Successfully saved trajectory data for house_3361 in 3.76s (batch: 3.62s, save: 0.14s)	[pipeline.py: 280]
+05/25 19:45:07 WARNING: [Worker 0] No trajectory data to save for house_3361	[pipeline.py: 229]
+05/25 19:45:07 INFO: [Worker 0] Worker 0 completed house 3361: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:45:07 INFO: [Worker 0] Worker 0 starting house 3426 (index 63/111)	[pipeline.py: 473]
+05/25 19:45:07 INFO: [Worker 0] Loaded 1 episodes for house 3426 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	[json_eval_runner.py: 278]
+05/25 19:45:07 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 19:45:11 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7bf14a57ee5345689c3efd4bd1616466	[json_eval_task_sampler.py: 648]
+05/25 19:45:11 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_6	[json_eval_task_sampler.py: 648]
+05/25 19:45:11 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/3b145885d881488887d90a98b3cde06f	[json_eval_task_sampler.py: 648]
+05/25 19:45:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3426_ceiling.xml	[task_sampler.py: 797]
+05/25 19:45:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3426, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:45:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:45:17 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects	[json_eval_task_sampler.py: 686]
+05/25 19:45:17 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:45:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:45:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:45:17 INFO: [Worker 0] Sampled task 'Pick up the brown dried fish with scales and place it in or on the dark gray bowl'	[task_sampler.py: 1136]
+05/25 19:45:17 INFO: [Worker 0] Worker 0 house 3426 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:45:17 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:45:18 WARNING: [Worker 0] Could not find object objafaceplate_521c117e4216443f9cb116f01483a230_1_0_9 in scene	[object_manager.py: 1238]
+05/25 19:45:18 WARNING: [Worker 0] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_9 in scene	[object_manager.py: 1238]
+05/25 19:48:05 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 19:54:38 INFO: [Worker 0] Worker 0 house 3426 episode 0 object objadriedfish_b94ddf2091234161818b07461044cb2f_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 19:54:42 INFO: [Worker 0] Batching and saving trajectory data for house_3426: 1 episodes	[pipeline.py: 233]
+05/25 19:54:42 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:54:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:54:45 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3426	[save_utils.py: 703]
+05/25 19:54:45 INFO: [Worker 0] Successfully saved trajectory data for house_3426 in 3.01s (batch: 2.90s, save: 0.11s)	[pipeline.py: 280]
+05/25 19:54:46 WARNING: [Worker 0] No trajectory data to save for house_3426	[pipeline.py: 229]
+05/25 19:54:46 INFO: [Worker 0] Worker 0 completed house 3426: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:54:46 INFO: [Worker 0] Worker 0 starting house 3435 (index 64/111)	[pipeline.py: 473]
+05/25 19:54:46 INFO: [Worker 0] Loaded 2 episodes for house 3435 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	[json_eval_runner.py: 278]
+05/25 19:54:46 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 19:55:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/54c702aeeb634157ab6bfd6c2f7a78c2	[json_eval_task_sampler.py: 648]
+05/25 19:55:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/27dd012c10e64049b8ca900fe86f077f	[json_eval_task_sampler.py: 648]
+05/25 19:55:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7d2737e16fcf4d40bc549521ba6a2d02	[json_eval_task_sampler.py: 648]
+05/25 19:55:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3435_ceiling.xml	[task_sampler.py: 797]
+05/25 19:55:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3435, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:55:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:55:11 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects	[json_eval_task_sampler.py: 686]
+05/25 19:55:11 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:55:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:55:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:55:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:55:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:55:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:55:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:55:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:55:11 INFO: [Worker 0] Sampled task 'Pick up the red rectangular novelty license card and place it in or on the white ceramic bowl with chicken salad'	[task_sampler.py: 1136]
+05/25 19:55:11 INFO: [Worker 0] Worker 0 house 3435 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 19:55:11 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:55:11 WARNING: [Worker 0] Could not find object objasneaker_e582295a143041268a737b4ea54556cc_1_0_7 in scene	[object_manager.py: 1238]
+05/25 19:55:11 WARNING: [Worker 0] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_7 in scene	[object_manager.py: 1238]
+05/25 20:02:11 INFO: [Worker 0] Worker 0 house 3435 episode 0 object objanoveltycard_8e6f2b6b96e24c6096116eb97376abff_2_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 20:02:15 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]
+05/25 20:02:18 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/54c702aeeb634157ab6bfd6c2f7a78c2	[json_eval_task_sampler.py: 648]
+05/25 20:02:18 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/27dd012c10e64049b8ca900fe86f077f	[json_eval_task_sampler.py: 648]
+05/25 20:02:18 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7d2737e16fcf4d40bc549521ba6a2d02	[json_eval_task_sampler.py: 648]
+05/25 20:02:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3435_ceiling.xml	[task_sampler.py: 797]
+05/25 20:02:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3435, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:02:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:02:24 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects	[json_eval_task_sampler.py: 686]
+05/25 20:02:24 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:02:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:02:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:02:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:02:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:02:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:02:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:02:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:02:24 INFO: [Worker 0] Sampled task 'Pick up the red onion with stem and roots and place it in or on the earthy toned handmade ceramic bowl'	[task_sampler.py: 1136]
+05/25 20:02:24 INFO: [Worker 0] Worker 0 house 3435 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 20:02:24 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:02:25 WARNING: [Worker 0] Could not find object objasneaker_e582295a143041268a737b4ea54556cc_1_0_7 in scene	[object_manager.py: 1238]
+05/25 20:02:25 WARNING: [Worker 0] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_7 in scene	[object_manager.py: 1238]
+05/25 20:05:01 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 20:15:13 INFO: [Worker 0] Worker 0 house 3435 episode 1 object objaonion_3de79af9c89a441881daba64c884bbbf_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 20:15:19 INFO: [Worker 0] Batching and saving trajectory data for house_3435: 2 episodes	[pipeline.py: 233]
+05/25 20:15:19 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:15:24 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:15:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:15:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:15:28 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3435	[save_utils.py: 703]
+05/25 20:15:28 INFO: [Worker 0] Successfully saved trajectory data for house_3435 in 8.96s (batch: 8.57s, save: 0.39s)	[pipeline.py: 280]
+05/25 20:15:29 WARNING: [Worker 0] No trajectory data to save for house_3435	[pipeline.py: 229]
+05/25 20:15:29 INFO: [Worker 0] Worker 0 completed house 3435: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 20:15:29 INFO: [Worker 0] Worker 0 starting house 3472 (index 65/111)	[pipeline.py: 473]
+05/25 20:15:29 INFO: [Worker 0] Loaded 1 episodes for house 3472 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	[json_eval_runner.py: 278]
+05/25 20:15:29 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 20:16:15 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/5f6ab8152ec9440e9b922def5ae8b8b2	[json_eval_task_sampler.py: 648]
+05/25 20:16:15 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b54b110dfccb4ea3a8f5a06cc65edc5a	[json_eval_task_sampler.py: 648]
+05/25 20:16:15 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/f42af504c27649c78412bafd25665e46	[json_eval_task_sampler.py: 648]
+05/25 20:16:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3472_ceiling.xml	[task_sampler.py: 797]
+05/25 20:16:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3472, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:16:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:16:20 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects	[json_eval_task_sampler.py: 686]
+05/25 20:16:20 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:16:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:16:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:16:20 INFO: [Worker 0] Sampled task 'Pick up the human dentures and place it in or on the gray bowl'	[task_sampler.py: 1136]
+05/25 20:16:20 INFO: [Worker 0] Worker 0 house 3472 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:16:20 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:25:06 INFO: [Worker 0] Worker 0 house 3472 episode 0 object objadentures_9f8a86701e5549c6bf6004b4f58bdd31_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 20:25:11 INFO: [Worker 0] Batching and saving trajectory data for house_3472: 1 episodes	[pipeline.py: 233]
+05/25 20:25:11 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:25:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:25:14 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3472	[save_utils.py: 703]
+05/25 20:25:14 INFO: [Worker 0] Successfully saved trajectory data for house_3472 in 2.88s (batch: 2.75s, save: 0.13s)	[pipeline.py: 280]
+05/25 20:25:14 WARNING: [Worker 0] No trajectory data to save for house_3472	[pipeline.py: 229]
+05/25 20:25:14 INFO: [Worker 0] Worker 0 completed house 3472: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:25:14 INFO: [Worker 0] Worker 0 starting house 3503 (index 66/111)	[pipeline.py: 473]
+05/25 20:25:14 INFO: [Worker 0] Loaded 1 episodes for house 3503 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	[json_eval_runner.py: 278]
+05/25 20:25:14 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 20:25:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/48272cae86364aa0995e70658330c0a9	[json_eval_task_sampler.py: 648]
+05/25 20:25:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/937044a40c3845bf88639056005b8a75	[json_eval_task_sampler.py: 648]
+05/25 20:25:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a6cfd144a62e446c92f0987fb81d584f	[json_eval_task_sampler.py: 648]
+05/25 20:25:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3503_ceiling.xml	[task_sampler.py: 797]
+05/25 20:25:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3503, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:25:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:25:36 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects	[json_eval_task_sampler.py: 686]
+05/25 20:25:36 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:25:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:25:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:25:36 INFO: [Worker 0] Sampled task 'Pick up the irregular knobby light brown ginger and place it in or on the white ceramic bowl'	[task_sampler.py: 1136]
+05/25 20:25:36 INFO: [Worker 0] Worker 0 house 3503 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:25:37 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:25:37 WARNING: [Worker 0] Could not find object objahikingshoe_41c91f680a55496ca83144519402c2f6_1_0_5 in scene	[object_manager.py: 1238]
+05/25 20:26:58 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 20:31:54 INFO: [Worker 0] Worker 0 house 3503 episode 0 object objagingerroot_cb9ed3ac89d945ab89e94ec2704eb408_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 20:31:58 INFO: [Worker 0] Batching and saving trajectory data for house_3503: 1 episodes	[pipeline.py: 233]
+05/25 20:31:58 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:32:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:32:01 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3503	[save_utils.py: 703]
+05/25 20:32:01 INFO: [Worker 0] Successfully saved trajectory data for house_3503 in 3.56s (batch: 3.41s, save: 0.15s)	[pipeline.py: 280]
+05/25 20:32:02 WARNING: [Worker 0] No trajectory data to save for house_3503	[pipeline.py: 229]
+05/25 20:32:02 INFO: [Worker 0] Worker 0 completed house 3503: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:32:02 INFO: [Worker 0] Worker 0 starting house 3542 (index 67/111)	[pipeline.py: 473]
+05/25 20:32:02 INFO: [Worker 0] Loaded 1 episodes for house 3542 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	[json_eval_runner.py: 278]
+05/25 20:32:02 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]
+05/25 20:32:04 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_28	[json_eval_task_sampler.py: 648]
+05/25 20:32:04 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1bac786df9e446a795e442a83f49056a	[json_eval_task_sampler.py: 648]
+05/25 20:32:04 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/24464015c15b4662a32be7625ae3f75b	[json_eval_task_sampler.py: 648]
+05/25 20:32:04 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 20:32:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3542_ceiling.xml	[task_sampler.py: 797]
+05/25 20:32:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3542, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:32:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:32:09 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects	[json_eval_task_sampler.py: 686]
+05/25 20:32:09 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:32:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:32:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:32:09 INFO: [Worker 0] Sampled task 'Pick up the black handheld camera and place it in or on the shallow bowl filled with rice'	[task_sampler.py: 1136]
+05/25 20:32:09 INFO: [Worker 0] Worker 0 house 3542 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:32:10 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:32:10 WARNING: [Worker 0] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_3 in scene	[object_manager.py: 1238]
+05/25 20:34:18 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 20:38:15 INFO: [Worker 0] Worker 0 house 3542 episode 0 object objavideocamera_3bd48bc193c54407a7ffdbea3c37a4d6_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 20:38:19 INFO: [Worker 0] Batching and saving trajectory data for house_3542: 1 episodes	[pipeline.py: 233]
+05/25 20:38:19 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:38:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:38:22 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3542	[save_utils.py: 703]
+05/25 20:38:22 INFO: [Worker 0] Successfully saved trajectory data for house_3542 in 2.96s (batch: 2.81s, save: 0.16s)	[pipeline.py: 280]
+05/25 20:38:23 WARNING: [Worker 0] No trajectory data to save for house_3542	[pipeline.py: 229]
+05/25 20:38:23 INFO: [Worker 0] Worker 0 completed house 3542: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:38:23 INFO: [Worker 0] Worker 0 starting house 3588 (index 68/111)	[pipeline.py: 473]
+05/25 20:38:23 INFO: [Worker 0] Loaded 1 episodes for house 3588 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	[json_eval_runner.py: 278]
+05/25 20:38:23 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 20:38:28 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/53c885e05492439cace4cc626fec00cc	[json_eval_task_sampler.py: 648]
+05/25 20:38:28 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/27dd012c10e64049b8ca900fe86f077f	[json_eval_task_sampler.py: 648]
+05/25 20:38:28 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_19	[json_eval_task_sampler.py: 648]
+05/25 20:38:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3588_ceiling.xml	[task_sampler.py: 797]
+05/25 20:38:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3588, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:38:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:38:31 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects	[json_eval_task_sampler.py: 686]
+05/25 20:38:31 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:38:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:38:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:38:31 INFO: [Worker 0] Sampled task 'Pick up the smooth dark wood tool with curve and place it in or on the white ceramic bowl with chicken salad'	[task_sampler.py: 1136]
+05/25 20:38:31 INFO: [Worker 0] Worker 0 house 3588 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:38:31 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:41:02 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 20:45:38 INFO: [Worker 0] Worker 0 house 3588 episode 0 object objawoodentool_6727d5933a6f4097a678f6ee8b3d1de0_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 20:45:42 INFO: [Worker 0] Batching and saving trajectory data for house_3588: 1 episodes	[pipeline.py: 233]
+05/25 20:45:42 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:45:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:45:45 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3588	[save_utils.py: 703]
+05/25 20:45:45 INFO: [Worker 0] Successfully saved trajectory data for house_3588 in 2.97s (batch: 2.81s, save: 0.15s)	[pipeline.py: 280]
+05/25 20:45:45 WARNING: [Worker 0] No trajectory data to save for house_3588	[pipeline.py: 229]
+05/25 20:45:45 INFO: [Worker 0] Worker 0 completed house 3588: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:45:45 INFO: [Worker 0] Worker 0 starting house 3629 (index 69/111)	[pipeline.py: 473]
+05/25 20:45:45 INFO: [Worker 0] Loaded 1 episodes for house 3629 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	[json_eval_runner.py: 278]
+05/25 20:45:45 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 20:46:01 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f8b3d867de194e6cb587c89d54ed8f0e	[json_eval_task_sampler.py: 648]
+05/25 20:46:01 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1bac786df9e446a795e442a83f49056a	[json_eval_task_sampler.py: 648]
+05/25 20:46:01 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7b3bfdab414148a08cbf46fc105e280a	[json_eval_task_sampler.py: 648]
+05/25 20:46:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3629_ceiling.xml	[task_sampler.py: 797]
+05/25 20:46:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3629, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:46:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:46:04 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects	[json_eval_task_sampler.py: 686]
+05/25 20:46:04 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:46:04 INFO: [Worker 0] Sampled task 'Pick up the conical flask filled with purple liquid and place it in or on the rustic round gray clay bowl'	[task_sampler.py: 1136]
+05/25 20:46:04 INFO: [Worker 0] Worker 0 house 3629 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:46:04 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:46:05 WARNING: [Worker 0] Could not find object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_4 in scene	[object_manager.py: 1238]
+05/25 20:47:45 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]
+05/25 20:55:55 INFO: [Worker 0] Worker 0 house 3629 episode 0 object objaerlenmeyerflask_9c04b4217c964d9cb469ca90f843bb6b_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 20:56:00 INFO: [Worker 0] Batching and saving trajectory data for house_3629: 1 episodes	[pipeline.py: 233]
+05/25 20:56:00 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:56:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:56:03 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3629	[save_utils.py: 703]
+05/25 20:56:03 INFO: [Worker 0] Successfully saved trajectory data for house_3629 in 3.39s (batch: 3.21s, save: 0.17s)	[pipeline.py: 280]
+05/25 20:56:04 WARNING: [Worker 0] No trajectory data to save for house_3629	[pipeline.py: 229]
+05/25 20:56:04 INFO: [Worker 0] Worker 0 completed house 3629: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:56:04 INFO: [Worker 0] Worker 0 starting house 3670 (index 70/111)	[pipeline.py: 473]
+05/25 20:56:04 INFO: [Worker 0] Loaded 1 episodes for house 3670 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	[json_eval_runner.py: 278]
+05/25 20:56:04 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]
+05/25 20:56:50 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e5c6cae2c71b45fe8fee9657af246c2c	[json_eval_task_sampler.py: 648]
+05/25 20:56:50 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/561e6757555049fca93f56e479f7cbe4	[json_eval_task_sampler.py: 648]
+05/25 20:56:50 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/24ee73c87dcf4161a630bb65dee2a7a5	[json_eval_task_sampler.py: 648]
+05/25 20:56:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3670_ceiling.xml	[task_sampler.py: 797]
+05/25 20:56:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3670, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:56:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:56:53 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects	[json_eval_task_sampler.py: 686]
+05/25 20:56:53 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:56:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:56:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:56:53 INFO: [Worker 0] Sampled task 'Pick up the turquoise beige cardboard notebook with stitches and place it in or on the jade green bowl with patterns'	[task_sampler.py: 1136]
+05/25 20:56:53 INFO: [Worker 0] Worker 0 house 3670 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:56:53 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:59:40 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 21:08:16 INFO: [Worker 0] Worker 0 house 3670 episode 0 object objanotebook_a8c59f42000e4d3a9f483c289fd09512_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 21:08:21 INFO: [Worker 0] Batching and saving trajectory data for house_3670: 1 episodes	[pipeline.py: 233]
+05/25 21:08:21 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 21:08:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 21:08:25 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3670	[save_utils.py: 703]
+05/25 21:08:25 INFO: [Worker 0] Successfully saved trajectory data for house_3670 in 4.30s (batch: 4.11s, save: 0.19s)	[pipeline.py: 280]
+05/25 21:08:26 WARNING: [Worker 0] No trajectory data to save for house_3670	[pipeline.py: 229]
+05/25 21:08:26 INFO: [Worker 0] Worker 0 completed house 3670: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 21:08:26 INFO: [Worker 0] Worker 0 starting house 3742 (index 71/111)	[pipeline.py: 473]
+05/25 21:08:26 INFO: [Worker 0] Loaded 1 episodes for house 3742 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	[json_eval_runner.py: 278]
+05/25 21:08:26 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 21:09:54 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/af624cab76c04bec86f0c928207797d8	[json_eval_task_sampler.py: 648]
+05/25 21:09:54 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ce448005340241c8acd2034b72cd09f8	[json_eval_task_sampler.py: 648]
+05/25 21:09:54 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/71c1d24834ca4725963d69d5bb0a5011	[json_eval_task_sampler.py: 648]
+05/25 21:09:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3742_ceiling.xml	[task_sampler.py: 797]
+05/25 21:09:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3742, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 21:09:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 21:09:57 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects	[json_eval_task_sampler.py: 686]
+05/25 21:09:57 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 21:09:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 21:09:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 21:09:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 21:09:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 21:09:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 21:09:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 21:09:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 21:09:57 INFO: [Worker 0] Sampled task 'Pick up the metal lock and place it in or on the small teal box with heart'	[task_sampler.py: 1136]
+05/25 21:09:57 INFO: [Worker 0] Worker 0 house 3742 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 21:09:57 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 21:12:04 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 21:16:11 INFO: [Worker 0] Worker 0 house 3742 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 21:16:16 INFO: [Worker 0] Batching and saving trajectory data for house_3742: 1 episodes	[pipeline.py: 233]
+05/25 21:16:16 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 21:16:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 21:16:19 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3742	[save_utils.py: 703]
+05/25 21:16:19 INFO: [Worker 0] Successfully saved trajectory data for house_3742 in 3.20s (batch: 3.05s, save: 0.15s)	[pipeline.py: 280]
+05/25 21:16:19 WARNING: [Worker 0] No trajectory data to save for house_3742	[pipeline.py: 229]
+05/25 21:16:19 INFO: [Worker 0] Worker 0 completed house 3742: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 21:16:19 INFO: [Worker 0] Worker 0 starting house 3776 (index 72/111)	[pipeline.py: 473]
+05/25 21:16:19 INFO: [Worker 0] Loaded 1 episodes for house 3776 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	[json_eval_runner.py: 278]
+05/25 21:16:19 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 21:16:21 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/63211cbfb48044bcbdbbd30a3aa3bb75	[json_eval_task_sampler.py: 648]
+05/25 21:16:21 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fdfd829fe39049a69f6df2289b29dc7f	[json_eval_task_sampler.py: 648]
+05/25 21:16:21 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c44ac768e7304df58ebf13ba4c6eed11	[json_eval_task_sampler.py: 648]
+05/25 21:16:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3776_ceiling.xml	[task_sampler.py: 797]
+05/25 21:16:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3776, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 21:16:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 21:16:26 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects	[json_eval_task_sampler.py: 686]
+05/25 21:16:26 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 21:16:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 21:16:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 21:16:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 21:16:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 21:16:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 21:16:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 21:16:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 21:16:26 INFO: [Worker 0] Sampled task 'Pick up the black blaster with scope and place it in or on the rustic gray bowl with patterns'	[task_sampler.py: 1136]
+05/25 21:16:26 INFO: [Worker 0] Worker 0 house 3776 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 21:16:26 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 21:18:46 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]
+05/25 21:27:01 INFO: [Worker 0] Worker 0 house 3776 episode 0 object objareplicablaster_276ec250cab2417690b3f67c01855d35_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 21:27:05 INFO: [Worker 0] Batching and saving trajectory data for house_3776: 1 episodes	[pipeline.py: 233]
+05/25 21:27:05 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 21:27:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 21:27:09 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3776	[save_utils.py: 703]
+05/25 21:27:09 INFO: [Worker 0] Successfully saved trajectory data for house_3776 in 3.17s (batch: 3.01s, save: 0.16s)	[pipeline.py: 280]
+05/25 21:27:09 WARNING: [Worker 0] No trajectory data to save for house_3776	[pipeline.py: 229]
+05/25 21:27:09 INFO: [Worker 0] Worker 0 completed house 3776: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 21:27:09 INFO: [Worker 0] Worker 0 starting house 3841 (index 73/111)	[pipeline.py: 473]
+05/25 21:27:09 INFO: [Worker 0] Loaded 1 episodes for house 3841 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	[json_eval_runner.py: 278]
+05/25 21:27:09 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 21:27:14 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/55bd2652583048adb5f261974f28b134	[json_eval_task_sampler.py: 648]
+05/25 21:27:14 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fe6a6e9cf17545179f8c6b81e5499b46	[json_eval_task_sampler.py: 648]
+05/25 21:27:14 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/af624cab76c04bec86f0c928207797d8	[json_eval_task_sampler.py: 648]
+05/25 21:27:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3841_ceiling.xml	[task_sampler.py: 797]
+05/25 21:27:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3841, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 21:27:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 21:27:17 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects	[json_eval_task_sampler.py: 686]
+05/25 21:27:17 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 21:27:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 21:27:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 21:27:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 21:27:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 21:27:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 21:27:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 21:27:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 21:27:17 INFO: [Worker 0] Sampled task 'Pick up the green dragon goblet and place it in or on the rustic green bowl with terracotta interior'	[task_sampler.py: 1136]
+05/25 21:27:17 INFO: [Worker 0] Worker 0 house 3841 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 21:27:17 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 21:29:33 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 21:34:31 INFO: [Worker 0] Worker 0 house 3841 episode 0 object objadecorativegoblet_36e0c8e1fb7d4556805e0a46a80ddea7_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 21:34:36 INFO: [Worker 0] Batching and saving trajectory data for house_3841: 1 episodes	[pipeline.py: 233]
+05/25 21:34:36 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 21:34:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 21:34:39 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3841	[save_utils.py: 703]
+05/25 21:34:39 INFO: [Worker 0] Successfully saved trajectory data for house_3841 in 3.85s (batch: 3.56s, save: 0.29s)	[pipeline.py: 280]
+05/25 21:34:40 WARNING: [Worker 0] No trajectory data to save for house_3841	[pipeline.py: 229]
+05/25 21:34:40 INFO: [Worker 0] Worker 0 completed house 3841: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 21:34:40 INFO: [Worker 0] Worker 0 starting house 3871 (index 74/111)	[pipeline.py: 473]
+05/25 21:34:40 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/25 21:34:40 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 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log b/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log
new file mode 100644
index 0000000000000000000000000000000000000000..5c5adc0eed9a1d5cf0f5fdfcbdb7b26a4f6a88ce
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log
@@ -0,0 +1,223 @@
+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_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_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': [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'}	[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 3871 (index 0/37)	[pipeline.py: 473]
+05/26 00:59:03 INFO: [Worker 0] 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	[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_0/50be4f8b8f744730878916aa38b0f08f	[json_eval_task_sampler.py: 648]
+05/26 01:02:36 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_14	[json_eval_task_sampler.py: 648]
+05/26 01:02:36 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b88a0160da29481fb7866fda93457fe3	[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 01:02:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3871_ceiling.xml	[task_sampler.py: 797]
+05/26 01:02:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3871, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:02:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:02:39 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects	[json_eval_task_sampler.py: 686]
+05/26 01:02:39 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:02:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:02:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:02:39 INFO: [Worker 0] Sampled task 'Pick up the stockfish and place it in or on the brown wooden leaf tray'	[task_sampler.py: 1136]
+05/26 01:02:39 INFO: [Worker 0] Worker 0 house 3871 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 01:02:39 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:02:39 WARNING: [Worker 0] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:02:39 WARNING: [Worker 0] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:13:56 INFO: [Worker 0] Worker 0 house 3871 episode 0 object objadriedfish_00fbc8e52f834ba78b25ffb6962b98e8_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/26 01:14:02 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 01:16:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/50be4f8b8f744730878916aa38b0f08f	[json_eval_task_sampler.py: 648]
+05/26 01:16:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_14	[json_eval_task_sampler.py: 648]
+05/26 01:16:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b88a0160da29481fb7866fda93457fe3	[json_eval_task_sampler.py: 648]
+05/26 01:16:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3871_ceiling.xml	[task_sampler.py: 797]
+05/26 01:16:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3871, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:16:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:16:15 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects	[json_eval_task_sampler.py: 686]
+05/26 01:16:15 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:16:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:16:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:16:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:16:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:16:15 INFO: [Worker 0] Sampled task 'Pick up the compact green radio and place it in or on the gray bowl'	[task_sampler.py: 1136]
+05/26 01:16:15 INFO: [Worker 0] Worker 0 house 3871 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 01:16:15 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:16:15 WARNING: [Worker 0] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:16:15 WARNING: [Worker 0] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:20:29 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]
+05/26 01:23:51 INFO: Received SIGTERM. Initiating graceful shutdown...	[pipeline.py: 1260]
+05/26 01:23:52 INFO: [Worker 0] Worker 0 house 3871 episode 1 object objaemergencyradio_875d6d844ced424bb9eaa5659ef888ac_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/26 01:23:57 INFO: [Worker 0] Worker 0 house 3871 shutdown requested, skipping save	[pipeline.py: 1214]
+05/26 01:23:57 INFO: [Worker 0] Worker 0 received shutdown signal, cleaning up...	[pipeline.py: 460]
+05/26 01:23:57 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 526]
+05/26 01:23:57 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1496]
+05/26 01:23:57 INFO: Success count: 0, Total count: 2	[pipeline.py: 1499]
+05/26 01:23:57 INFO: Success rate: 0.00%	[pipeline.py: 1500]
diff --git a/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/running_log.log b/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/running_log.log
new file mode 100644
index 0000000000000000000000000000000000000000..0ec436feb0ade5157562773137ef429b85d805a7
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/running_log.log
@@ -0,0 +1,1301 @@
+05/26 01:04:37 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 677]
+05/26 01:04:37 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 01:04:37 INFO: Evaluation configuration:	[pipeline.py: 1286]
+05/26 01:04:37 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_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'}	[pipeline.py: 1287]
+05/26 01:04:37 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler	[pipeline.py: 439]
+05/26 01:04:37 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]
+05/26 01:04:37 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler	[pipeline.py: 445]
+05/26 01:04:37 INFO: [Worker 0] Worker 0 starting house 3871 (index 0/37)	[pipeline.py: 473]
+05/26 01:04:37 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 01:04:37 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]
+05/26 01:04:45 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/50be4f8b8f744730878916aa38b0f08f	[json_eval_task_sampler.py: 648]
+05/26 01:04:45 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_14	[json_eval_task_sampler.py: 648]
+05/26 01:04:45 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b88a0160da29481fb7866fda93457fe3	[json_eval_task_sampler.py: 648]
+05/26 01:04:45 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/26 01:04:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3871_ceiling.xml	[task_sampler.py: 797]
+05/26 01:04:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3871, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:04:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:04:58 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects	[json_eval_task_sampler.py: 686]
+05/26 01:04:58 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:04:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:04:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:04:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:04:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:04:58 INFO: [Worker 0] Sampled task 'Pick up the stockfish and place it in or on the brown wooden leaf tray'	[task_sampler.py: 1136]
+05/26 01:04:58 INFO: [Worker 0] Worker 0 house 3871 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 01:04:58 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:04:59 WARNING: [Worker 0] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:04:59 WARNING: [Worker 0] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:13:56 INFO: [Worker 0] Worker 0 house 3871 episode 0 object objadriedfish_00fbc8e52f834ba78b25ffb6962b98e8_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/26 01:14:01 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 01:16:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/50be4f8b8f744730878916aa38b0f08f	[json_eval_task_sampler.py: 648]
+05/26 01:16:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_14	[json_eval_task_sampler.py: 648]
+05/26 01:16:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b88a0160da29481fb7866fda93457fe3	[json_eval_task_sampler.py: 648]
+05/26 01:16:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3871_ceiling.xml	[task_sampler.py: 797]
+05/26 01:16:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3871, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:16:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:16:14 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects	[json_eval_task_sampler.py: 686]
+05/26 01:16:14 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:16:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:16:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:16:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:16:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:16:14 INFO: [Worker 0] Sampled task 'Pick up the compact green radio and place it in or on the gray bowl'	[task_sampler.py: 1136]
+05/26 01:16:14 INFO: [Worker 0] Worker 0 house 3871 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 01:16:14 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:16:14 WARNING: [Worker 0] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:16:14 WARNING: [Worker 0] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:20:38 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 01:24:38 INFO: [Worker 0] Worker 0 house 3871 episode 1 object objaemergencyradio_875d6d844ced424bb9eaa5659ef888ac_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/26 01:24:42 INFO: [Worker 0] Batching and saving trajectory data for house_3871: 2 episodes	[pipeline.py: 233]
+05/26 01:24:42 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:24:44 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:24:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:24:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:24:47 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3871	[save_utils.py: 703]
+05/26 01:24:47 INFO: [Worker 0] Successfully saved trajectory data for house_3871 in 4.97s (batch: 4.80s, save: 0.18s)	[pipeline.py: 280]
+05/26 01:24:47 WARNING: [Worker 0] No trajectory data to save for house_3871	[pipeline.py: 229]
+05/26 01:24:47 INFO: [Worker 0] Worker 0 completed house 3871: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 01:24:47 INFO: [Worker 0] Worker 0 starting house 3898 (index 1/37)	[pipeline.py: 473]
+05/26 01:24:47 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 01:24:47 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]
+05/26 01:31:47 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/dc75becfc0104a358ad1354b65d19475	[json_eval_task_sampler.py: 648]
+05/26 01:31:47 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c7df0f7671d34fb9817d37067072f9ab	[json_eval_task_sampler.py: 648]
+05/26 01:31:47 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e9670b35612840bd92354dd8936d3c6a	[json_eval_task_sampler.py: 648]
+05/26 01:31:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3898_ceiling.xml	[task_sampler.py: 797]
+05/26 01:31:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3898, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:31:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:31:51 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects	[json_eval_task_sampler.py: 686]
+05/26 01:31:51 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:31:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:31:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:31:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:31:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:31:51 INFO: [Worker 0] Sampled task 'Pick up the metal hex screw and place it in or on the shallow round bowl with feet'	[task_sampler.py: 1136]
+05/26 01:31:51 INFO: [Worker 0] Worker 0 house 3898 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:31:51 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:31:51 WARNING: [Worker 0] Could not find object objapliers_de2e9e84e52844a0ab522e5e98202453_1_0_2 in scene	[object_manager.py: 1238]
+05/26 01:31:51 WARNING: [Worker 0] Could not find object objabakedgood_454783f25d8c46ac87969c8f161b1a16_1_0_2 in scene	[object_manager.py: 1238]
+05/26 01:33:24 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]
+05/26 01:38:57 INFO: [Worker 0] Worker 0 house 3898 episode 0 object objascrew_477a7178be2b4f709bb4fe2d724f47cf_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 01:39:01 INFO: [Worker 0] Batching and saving trajectory data for house_3898: 1 episodes	[pipeline.py: 233]
+05/26 01:39:01 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:39:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:39:05 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3898	[save_utils.py: 703]
+05/26 01:39:05 INFO: [Worker 0] Successfully saved trajectory data for house_3898 in 3.27s (batch: 3.11s, save: 0.16s)	[pipeline.py: 280]
+05/26 01:39:05 WARNING: [Worker 0] No trajectory data to save for house_3898	[pipeline.py: 229]
+05/26 01:39:05 INFO: [Worker 0] Worker 0 completed house 3898: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 01:39:05 INFO: [Worker 0] Worker 0 starting house 3945 (index 2/37)	[pipeline.py: 473]
+05/26 01:39:05 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 01:39:05 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]
+05/26 01:41:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/cfe3c9eed1554f59ad7756e27d97c667	[json_eval_task_sampler.py: 648]
+05/26 01:41:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bcf3a4e49ee14eeda2faca7c7455161d	[json_eval_task_sampler.py: 648]
+05/26 01:41:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ce448005340241c8acd2034b72cd09f8	[json_eval_task_sampler.py: 648]
+05/26 01:41:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3945_ceiling.xml	[task_sampler.py: 797]
+05/26 01:41:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3945, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:41:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:41:27 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects	[json_eval_task_sampler.py: 686]
+05/26 01:41:27 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:41:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:41:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:41:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:41:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:41:27 INFO: [Worker 0] Sampled task 'Pick up the circular gold ornate openwork ornament and place it in or on the teal box with heart'	[task_sampler.py: 1136]
+05/26 01:41:27 INFO: [Worker 0] Worker 0 house 3945 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:41:27 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:43:56 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 01:46:08 INFO: [Worker 0] Worker 0 house 3945 episode 0 object objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/26 01:46:12 INFO: [Worker 0] Batching and saving trajectory data for house_3945: 1 episodes	[pipeline.py: 233]
+05/26 01:46:12 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:46:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:46:14 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3945	[save_utils.py: 703]
+05/26 01:46:14 INFO: [Worker 0] Successfully saved trajectory data for house_3945 in 2.52s (batch: 2.43s, save: 0.09s)	[pipeline.py: 280]
+05/26 01:46:15 WARNING: [Worker 0] No trajectory data to save for house_3945	[pipeline.py: 229]
+05/26 01:46:15 INFO: [Worker 0] Worker 0 completed house 3945: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 01:46:15 INFO: [Worker 0] Worker 0 starting house 3990 (index 3/37)	[pipeline.py: 473]
+05/26 01:46:15 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 01:46:15 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 01:53:21 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0500b0d9ef6f40dd96591d7b354c9ede	[json_eval_task_sampler.py: 648]
+05/26 01:53:21 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2df58d08f5604c058d43e00677d325b6	[json_eval_task_sampler.py: 648]
+05/26 01:53:21 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/472cceee5a224ff6933e7baf31d16641	[json_eval_task_sampler.py: 648]
+05/26 01:53:21 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/26 01:53:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3990_ceiling.xml	[task_sampler.py: 797]
+05/26 01:53:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3990, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:53:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:53:24 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects	[json_eval_task_sampler.py: 686]
+05/26 01:53:24 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:53:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:53:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:53:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:53:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:53:24 INFO: [Worker 0] Sampled task 'Pick up the instrumentation and place it in or on the rusty metal tray with meat'	[task_sampler.py: 1136]
+05/26 01:53:24 INFO: [Worker 0] Worker 0 house 3990 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:53:24 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:53:24 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:54:44 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]
+05/26 01:57:24 INFO: [Worker 0] Worker 0 house 3990 episode 0 object objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 01:57:28 INFO: [Worker 0] Batching and saving trajectory data for house_3990: 1 episodes	[pipeline.py: 233]
+05/26 01:57:28 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:57:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:57:32 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3990	[save_utils.py: 703]
+05/26 01:57:32 INFO: [Worker 0] Successfully saved trajectory data for house_3990 in 3.29s (batch: 3.10s, save: 0.20s)	[pipeline.py: 280]
+05/26 01:57:32 WARNING: [Worker 0] No trajectory data to save for house_3990	[pipeline.py: 229]
+05/26 01:57:32 INFO: [Worker 0] Worker 0 completed house 3990: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 01:57:32 INFO: [Worker 0] Worker 0 starting house 4017 (index 4/37)	[pipeline.py: 473]
+05/26 01:57:32 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 01:57:32 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 01:58:27 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_26	[json_eval_task_sampler.py: 648]
+05/26 01:58:27 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a6cfd144a62e446c92f0987fb81d584f	[json_eval_task_sampler.py: 648]
+05/26 01:58:27 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a5b29a29005041dca3d8bfbc8c57c7e2	[json_eval_task_sampler.py: 648]
+05/26 01:58:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4017_ceiling.xml	[task_sampler.py: 797]
+05/26 01:58:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4017, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:58:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:58:33 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects	[json_eval_task_sampler.py: 686]
+05/26 01:58:33 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:58:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:58:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:58:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:58:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:58:33 INFO: [Worker 0] Sampled task 'Pick up the beige taco filled with toppings and place it in or on the gray bowl'	[task_sampler.py: 1136]
+05/26 01:58:33 INFO: [Worker 0] Worker 0 house 4017 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:58:33 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:01:45 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 02:06:25 INFO: [Worker 0] Worker 0 house 4017 episode 0 object objadecorativefoodmodel_9c9d11d317814c2085da004146c4917c_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/26 02:06:30 INFO: [Worker 0] Batching and saving trajectory data for house_4017: 1 episodes	[pipeline.py: 233]
+05/26 02:06:30 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:06:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:06:33 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4017	[save_utils.py: 703]
+05/26 02:06:33 INFO: [Worker 0] Successfully saved trajectory data for house_4017 in 3.39s (batch: 3.25s, save: 0.14s)	[pipeline.py: 280]
+05/26 02:06:34 WARNING: [Worker 0] No trajectory data to save for house_4017	[pipeline.py: 229]
+05/26 02:06:34 INFO: [Worker 0] Worker 0 completed house 4017: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 02:06:34 INFO: [Worker 0] Worker 0 starting house 4068 (index 5/37)	[pipeline.py: 473]
+05/26 02:06:34 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 02:06:34 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]
+05/26 02:06:46 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_13	[json_eval_task_sampler.py: 648]
+05/26 02:06:46 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0cb14e8a04de4c39ac8714a98fba9883	[json_eval_task_sampler.py: 648]
+05/26 02:06:46 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2b2f2afe691143b1a0d9c56141b028f9	[json_eval_task_sampler.py: 648]
+05/26 02:06:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4068_ceiling.xml	[task_sampler.py: 797]
+05/26 02:06:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4068, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:06:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:06:51 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects	[json_eval_task_sampler.py: 686]
+05/26 02:06:51 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:06:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:06:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:06:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:06:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:06:51 INFO: [Worker 0] Sampled task 'Pick up the curved sleek modern handset and place it in or on the sculptural bowl with earthy texture'	[task_sampler.py: 1136]
+05/26 02:06:51 INFO: [Worker 0] Worker 0 house 4068 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 02:06:51 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:10:17 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 02:16:28 INFO: [Worker 0] Worker 0 house 4068 episode 0 object objatelephonehandset_0ddfdf35baa6475d9ba001a570eaeebd_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 02:16:32 INFO: [Worker 0] Batching and saving trajectory data for house_4068: 1 episodes	[pipeline.py: 233]
+05/26 02:16:32 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:16:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:16:35 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4068	[save_utils.py: 703]
+05/26 02:16:35 INFO: [Worker 0] Successfully saved trajectory data for house_4068 in 2.90s (batch: 2.78s, save: 0.12s)	[pipeline.py: 280]
+05/26 02:16:35 WARNING: [Worker 0] No trajectory data to save for house_4068	[pipeline.py: 229]
+05/26 02:16:35 INFO: [Worker 0] Worker 0 completed house 4068: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 02:16:35 INFO: [Worker 0] Worker 0 starting house 4133 (index 6/37)	[pipeline.py: 473]
+05/26 02:16:35 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 02:16:35 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]
+05/26 02:16:45 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_20	[json_eval_task_sampler.py: 648]
+05/26 02:16:45 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1e4b75a1bb484c42b99fcd3ddf23ae9f	[json_eval_task_sampler.py: 648]
+05/26 02:16:45 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bfae6fa9a7f64b9eb16f57c05553c612	[json_eval_task_sampler.py: 648]
+05/26 02:16:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4133_ceiling.xml	[task_sampler.py: 797]
+05/26 02:16:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4133, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:16:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:16:49 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects	[json_eval_task_sampler.py: 686]
+05/26 02:16:49 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:16:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:16:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:16:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:16:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:16:49 INFO: [Worker 0] Sampled task 'Pick up the blue birthday card with fox and rabbit and place it in or on the round handmade rustic earthy bowl'	[task_sampler.py: 1136]
+05/26 02:16:49 INFO: [Worker 0] Worker 0 house 4133 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 02:16:49 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:23:33 INFO: [Worker 0] Worker 0 house 4133 episode 0 object objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 02:23:37 INFO: [Worker 0] Batching and saving trajectory data for house_4133: 1 episodes	[pipeline.py: 233]
+05/26 02:23:37 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:23:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:23:41 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4133	[save_utils.py: 703]
+05/26 02:23:41 INFO: [Worker 0] Successfully saved trajectory data for house_4133 in 3.72s (batch: 3.52s, save: 0.20s)	[pipeline.py: 280]
+05/26 02:23:42 WARNING: [Worker 0] No trajectory data to save for house_4133	[pipeline.py: 229]
+05/26 02:23:42 INFO: [Worker 0] Worker 0 completed house 4133: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 02:23:42 INFO: [Worker 0] Worker 0 starting house 4205 (index 7/37)	[pipeline.py: 473]
+05/26 02:23:42 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 02:23:42 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]
+05/26 02:23:43 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/561e6757555049fca93f56e479f7cbe4	[json_eval_task_sampler.py: 648]
+05/26 02:23:43 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/03fa6768245446f4bab866db37a6caec	[json_eval_task_sampler.py: 648]
+05/26 02:23:43 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c7df0f7671d34fb9817d37067072f9ab	[json_eval_task_sampler.py: 648]
+05/26 02:23:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4205_ceiling.xml	[task_sampler.py: 797]
+05/26 02:23:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4205, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:23:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:23:47 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects	[json_eval_task_sampler.py: 686]
+05/26 02:23:47 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:23:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:23:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:23:47 INFO: [Worker 0] Sampled task 'Pick up the teacup and place it in or on the ceramic bowl filled with rice and peas'	[task_sampler.py: 1136]
+05/26 02:23:47 INFO: [Worker 0] Worker 0 house 4205 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 02:23:48 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:27:41 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]
+05/26 02:31:20 INFO: [Worker 0] Worker 0 house 4205 episode 0 object objateacup_ccc2c0af285d479b8c5961d3c678aefc_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 02:31:23 INFO: [Worker 0] Batching and saving trajectory data for house_4205: 1 episodes	[pipeline.py: 233]
+05/26 02:31:23 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:31:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:31:26 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4205	[save_utils.py: 703]
+05/26 02:31:26 INFO: [Worker 0] Successfully saved trajectory data for house_4205 in 3.00s (batch: 2.85s, save: 0.15s)	[pipeline.py: 280]
+05/26 02:31:27 WARNING: [Worker 0] No trajectory data to save for house_4205	[pipeline.py: 229]
+05/26 02:31:27 INFO: [Worker 0] Worker 0 completed house 4205: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 02:31:27 INFO: [Worker 0] Worker 0 starting house 4270 (index 8/37)	[pipeline.py: 473]
+05/26 02:31:27 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 02:31:27 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]
+05/26 02:31:29 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/55bd2652583048adb5f261974f28b134	[json_eval_task_sampler.py: 648]
+05/26 02:31:29 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_22	[json_eval_task_sampler.py: 648]
+05/26 02:31:29 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_29	[json_eval_task_sampler.py: 648]
+05/26 02:31:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4270_ceiling.xml	[task_sampler.py: 797]
+05/26 02:31:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4270, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:31:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:31:33 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects	[json_eval_task_sampler.py: 686]
+05/26 02:31:33 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:31:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:31:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:31:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:31:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:31:33 INFO: [Worker 0] Sampled task 'Pick up the olive scalloped ceramic plate and place it in or on the round metallic bowl with patina'	[task_sampler.py: 1136]
+05/26 02:31:33 INFO: [Worker 0] Worker 0 house 4270 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 02:31:33 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:33:53 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]
+05/26 02:37:57 INFO: [Worker 0] Worker 0 house 4270 episode 0 object plate_ac19ca22ae10d8179cdc8dc68e02072d_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 02:38:01 INFO: [Worker 0] Batching and saving trajectory data for house_4270: 1 episodes	[pipeline.py: 233]
+05/26 02:38:01 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:38:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:38:05 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4270	[save_utils.py: 703]
+05/26 02:38:05 INFO: [Worker 0] Successfully saved trajectory data for house_4270 in 3.64s (batch: 3.42s, save: 0.23s)	[pipeline.py: 280]
+05/26 02:38:05 WARNING: [Worker 0] No trajectory data to save for house_4270	[pipeline.py: 229]
+05/26 02:38:05 INFO: [Worker 0] Worker 0 completed house 4270: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 02:38:05 INFO: [Worker 0] Worker 0 starting house 4295 (index 9/37)	[pipeline.py: 473]
+05/26 02:38:05 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 02:38:05 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]
+05/26 02:38:12 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/c44ac768e7304df58ebf13ba4c6eed11	[json_eval_task_sampler.py: 648]
+05/26 02:38:12 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/39afab89520c460598805c0a6bad291c	[json_eval_task_sampler.py: 648]
+05/26 02:38:12 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c14e37cc7b7448bb9ed3bc33106a52b6	[json_eval_task_sampler.py: 648]
+05/26 02:38:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4295_ceiling.xml	[task_sampler.py: 797]
+05/26 02:38:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4295, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:38:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:38:19 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects	[json_eval_task_sampler.py: 686]
+05/26 02:38:19 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:38:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:38:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:38:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:38:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:38:19 INFO: [Worker 0] 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'	[task_sampler.py: 1136]
+05/26 02:38:19 INFO: [Worker 0] Worker 0 house 4295 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 02:38:19 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:50:59 INFO: [Worker 0] Worker 0 house 4295 episode 0 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 02:51:04 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 02:51:07 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/c44ac768e7304df58ebf13ba4c6eed11	[json_eval_task_sampler.py: 648]
+05/26 02:51:07 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/39afab89520c460598805c0a6bad291c	[json_eval_task_sampler.py: 648]
+05/26 02:51:07 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c14e37cc7b7448bb9ed3bc33106a52b6	[json_eval_task_sampler.py: 648]
+05/26 02:51:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4295_ceiling.xml	[task_sampler.py: 797]
+05/26 02:51:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4295, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:51:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:51:14 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects	[json_eval_task_sampler.py: 686]
+05/26 02:51:14 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:51:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:51:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:51:14 INFO: [Worker 0] Sampled task 'Pick up the keypad and place it in or on the gray rough textured bowl'	[task_sampler.py: 1136]
+05/26 02:51:14 INFO: [Worker 0] Worker 0 house 4295 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 02:51:14 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:55:00 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 03:03:51 INFO: [Worker 0] Worker 0 house 4295 episode 1 object objasecuritykeypad_e3e26581572f467d84958a12d6305aae_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 03:03:55 INFO: [Worker 0] Batching and saving trajectory data for house_4295: 2 episodes	[pipeline.py: 233]
+05/26 03:03:55 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:03:58 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:04:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:04:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:04:02 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4295	[save_utils.py: 703]
+05/26 03:04:02 INFO: [Worker 0] Successfully saved trajectory data for house_4295 in 6.69s (batch: 6.47s, save: 0.22s)	[pipeline.py: 280]
+05/26 03:04:02 WARNING: [Worker 0] No trajectory data to save for house_4295	[pipeline.py: 229]
+05/26 03:04:02 INFO: [Worker 0] Worker 0 completed house 4295: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 03:04:02 INFO: [Worker 0] Worker 0 starting house 4346 (index 10/37)	[pipeline.py: 473]
+05/26 03:04:02 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 03:04:02 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 03:04:12 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/496bd9f05a714e608a41a24b169937f6	[json_eval_task_sampler.py: 648]
+05/26 03:04:12 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/08dd440442874c8e8ae35494b4aff0a2	[json_eval_task_sampler.py: 648]
+05/26 03:04:12 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/1e4b75a1bb484c42b99fcd3ddf23ae9f	[json_eval_task_sampler.py: 648]
+05/26 03:04:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4346_ceiling.xml	[task_sampler.py: 797]
+05/26 03:04:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4346, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:04:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:04:17 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects	[json_eval_task_sampler.py: 686]
+05/26 03:04:17 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:04:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:04:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:04:17 INFO: [Worker 0] Sampled task 'Pick up the smooth cylindrical wooden rod and place it in or on the patchwork ceramic bowl rustic'	[task_sampler.py: 1136]
+05/26 03:04:17 INFO: [Worker 0] Worker 0 house 4346 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:04:17 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:04:17 WARNING: [Worker 0] Could not find object objasandal_c337b092178a4931a68336c3e6f49287_1_0_9 in scene	[object_manager.py: 1238]
+05/26 03:04:17 WARNING: [Worker 0] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_9 in scene	[object_manager.py: 1238]
+05/26 03:04:17 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene	[object_manager.py: 1238]
+05/26 03:07:50 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]
+05/26 03:15:03 INFO: [Worker 0] Worker 0 house 4346 episode 0 object objawoodenrod_93e71d2e393c4992a3bf47eb1fc7e3f7_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 03:15:08 INFO: [Worker 0] Batching and saving trajectory data for house_4346: 1 episodes	[pipeline.py: 233]
+05/26 03:15:08 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:15:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:15:12 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4346	[save_utils.py: 703]
+05/26 03:15:12 INFO: [Worker 0] Successfully saved trajectory data for house_4346 in 3.69s (batch: 3.54s, save: 0.15s)	[pipeline.py: 280]
+05/26 03:15:13 WARNING: [Worker 0] No trajectory data to save for house_4346	[pipeline.py: 229]
+05/26 03:15:13 INFO: [Worker 0] Worker 0 completed house 4346: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:15:13 INFO: [Worker 0] Worker 0 starting house 4374 (index 11/37)	[pipeline.py: 473]
+05/26 03:15:13 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 03:15:13 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]
+05/26 03:15:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/675213cdb6eb4b8ab4ca565f2e7f4fc4	[json_eval_task_sampler.py: 648]
+05/26 03:15:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1ef337c5cfda4d368ceb154c0e9fae0e	[json_eval_task_sampler.py: 648]
+05/26 03:15:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/af624cab76c04bec86f0c928207797d8	[json_eval_task_sampler.py: 648]
+05/26 03:15:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4374_ceiling.xml	[task_sampler.py: 797]
+05/26 03:15:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4374, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:15:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:15:23 INFO: [Worker 0] randomize_scene: Setting poses for 14 objects	[json_eval_task_sampler.py: 686]
+05/26 03:15:23 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:15:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:15:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:15:23 INFO: [Worker 0] Sampled task 'Pick up the purple candy wrapper with lighthouse design and place it in or on the blue bowl'	[task_sampler.py: 1136]
+05/26 03:15:23 INFO: [Worker 0] Worker 0 house 4374 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:15:23 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:17:57 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 03:21:28 INFO: [Worker 0] Worker 0 house 4374 episode 0 object objacandywrapper_4a0fdf73d0474d778fd65ba220f50a71_2_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 03:21:32 INFO: [Worker 0] Batching and saving trajectory data for house_4374: 1 episodes	[pipeline.py: 233]
+05/26 03:21:32 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:21:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:21:36 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4374	[save_utils.py: 703]
+05/26 03:21:36 INFO: [Worker 0] Successfully saved trajectory data for house_4374 in 3.82s (batch: 3.59s, save: 0.23s)	[pipeline.py: 280]
+05/26 03:21:37 WARNING: [Worker 0] No trajectory data to save for house_4374	[pipeline.py: 229]
+05/26 03:21:37 INFO: [Worker 0] Worker 0 completed house 4374: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:21:37 INFO: [Worker 0] Worker 0 starting house 4411 (index 12/37)	[pipeline.py: 473]
+05/26 03:21:37 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 03:21:37 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]
+05/26 03:21:38 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_8	[json_eval_task_sampler.py: 648]
+05/26 03:21:38 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0f1f3038a3144ab88d39739cc980fdc1	[json_eval_task_sampler.py: 648]
+05/26 03:21:38 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_22	[json_eval_task_sampler.py: 648]
+05/26 03:21:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4411_ceiling.xml	[task_sampler.py: 797]
+05/26 03:21:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4411, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:21:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:21:42 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects	[json_eval_task_sampler.py: 686]
+05/26 03:21:42 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:21:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:21:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:21:42 INFO: [Worker 0] Sampled task 'Pick up the rectangular wooden luggage tag with engraving and place it in or on the smooth silver bowl'	[task_sampler.py: 1136]
+05/26 03:21:42 INFO: [Worker 0] Worker 0 house 4411 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:21:42 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:21:42 WARNING: [Worker 0] Could not find object objalemonsqueezer_5679cddc744c4f39b731890788405de6_1_0_6 in scene	[object_manager.py: 1238]
+05/26 03:21:42 WARNING: [Worker 0] Could not find object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_6 in scene	[object_manager.py: 1238]
+05/26 03:23:30 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 03:26:06 INFO: [Worker 0] Worker 0 house 4411 episode 0 object objaluggagetag_8564a22483104f8aac76a02c12db952a_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 03:26:10 INFO: [Worker 0] Batching and saving trajectory data for house_4411: 1 episodes	[pipeline.py: 233]
+05/26 03:26:10 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:26:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:26:14 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4411	[save_utils.py: 703]
+05/26 03:26:14 INFO: [Worker 0] Successfully saved trajectory data for house_4411 in 3.82s (batch: 3.56s, save: 0.25s)	[pipeline.py: 280]
+05/26 03:26:15 WARNING: [Worker 0] No trajectory data to save for house_4411	[pipeline.py: 229]
+05/26 03:26:15 INFO: [Worker 0] Worker 0 completed house 4411: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:26:15 INFO: [Worker 0] Worker 0 starting house 4484 (index 13/37)	[pipeline.py: 473]
+05/26 03:26:15 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 03:26:15 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 03:26:28 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/08dd440442874c8e8ae35494b4aff0a2	[json_eval_task_sampler.py: 648]
+05/26 03:26:28 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/24ee73c87dcf4161a630bb65dee2a7a5	[json_eval_task_sampler.py: 648]
+05/26 03:26:28 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/1bac786df9e446a795e442a83f49056a	[json_eval_task_sampler.py: 648]
+05/26 03:26:28 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/26 03:26:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4484_ceiling.xml	[task_sampler.py: 797]
+05/26 03:26:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4484, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:26:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:26:37 INFO: [Worker 0] randomize_scene: Setting poses for 100 objects	[json_eval_task_sampler.py: 686]
+05/26 03:26:37 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:26:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:26:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:26:37 INFO: [Worker 0] Sampled task 'Pick up the irregular charred wooden fragment and place it in or on the patchwork ceramic bowl rustic'	[task_sampler.py: 1136]
+05/26 03:26:37 INFO: [Worker 0] Worker 0 house 4484 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:26:38 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:26:38 WARNING: [Worker 0] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene	[object_manager.py: 1238]
+05/26 03:30:11 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 03:40:06 INFO: [Worker 0] Worker 0 house 4484 episode 0 object objawood_ae78ba7e73fc4c47a99f4cde24adc46f_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 03:40:11 INFO: [Worker 0] Batching and saving trajectory data for house_4484: 1 episodes	[pipeline.py: 233]
+05/26 03:40:11 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:40:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:40:15 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4484	[save_utils.py: 703]
+05/26 03:40:15 INFO: [Worker 0] Successfully saved trajectory data for house_4484 in 3.58s (batch: 3.44s, save: 0.14s)	[pipeline.py: 280]
+05/26 03:40:16 WARNING: [Worker 0] No trajectory data to save for house_4484	[pipeline.py: 229]
+05/26 03:40:16 INFO: [Worker 0] Worker 0 completed house 4484: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:40:16 INFO: [Worker 0] Worker 0 starting house 4540 (index 14/37)	[pipeline.py: 473]
+05/26 03:40:16 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 03:40:16 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 03:40:21 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1e23d9b649a643528ce00de750e858de	[json_eval_task_sampler.py: 648]
+05/26 03:40:21 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/408b385373564c16acda3224de7d2ec6	[json_eval_task_sampler.py: 648]
+05/26 03:40:21 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2911e8c87d49402c9e3c18277c8b2b2a	[json_eval_task_sampler.py: 648]
+05/26 03:40:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4540_ceiling.xml	[task_sampler.py: 797]
+05/26 03:40:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4540, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:40:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:40:26 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects	[json_eval_task_sampler.py: 686]
+05/26 03:40:26 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:40:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:40:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:40:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:40:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:40:26 INFO: [Worker 0] Sampled task 'Pick up the small beige clay tablet with engravings and place it in or on the ceramic bowl'	[task_sampler.py: 1136]
+05/26 03:40:26 INFO: [Worker 0] Worker 0 house 4540 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:40:26 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:46:28 INFO: [Worker 0] Worker 0 house 4540 episode 0 object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_2_0_5 completed with success=False	[pipeline.py: 1114]
+05/26 03:46:32 INFO: [Worker 0] Batching and saving trajectory data for house_4540: 1 episodes	[pipeline.py: 233]
+05/26 03:46:32 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:46:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:46:34 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4540	[save_utils.py: 703]
+05/26 03:46:34 INFO: [Worker 0] Successfully saved trajectory data for house_4540 in 2.54s (batch: 2.45s, save: 0.09s)	[pipeline.py: 280]
+05/26 03:46:35 WARNING: [Worker 0] No trajectory data to save for house_4540	[pipeline.py: 229]
+05/26 03:46:35 INFO: [Worker 0] Worker 0 completed house 4540: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:46:35 INFO: [Worker 0] Worker 0 starting house 4584 (index 15/37)	[pipeline.py: 473]
+05/26 03:46:35 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 03:46:35 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]
+05/26 03:46:50 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/93ef7da87b1e43fbb47f3b26b927f777	[json_eval_task_sampler.py: 648]
+05/26 03:46:50 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fb56f8968a9c443897498a9ccf5c46d1	[json_eval_task_sampler.py: 648]
+05/26 03:46:50 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7bf14a57ee5345689c3efd4bd1616466	[json_eval_task_sampler.py: 648]
+05/26 03:46:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4584_ceiling.xml	[task_sampler.py: 797]
+05/26 03:46:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4584, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:46:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:46:54 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects	[json_eval_task_sampler.py: 686]
+05/26 03:46:55 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:46:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:46:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:46:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:46:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:46:55 INFO: [Worker 0] Sampled task 'Pick up the dark metal container with label and place it in or on the rustic round clay dish with handles'	[task_sampler.py: 1136]
+05/26 03:46:55 INFO: [Worker 0] Worker 0 house 4584 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:46:55 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:46:55 WARNING: [Worker 0] Could not find object soapdispenser_f815ad52d37c217cefc0cafa7edbb112_1_0_5 in scene	[object_manager.py: 1238]
+05/26 03:50:21 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]
+05/26 03:54:49 INFO: [Worker 0] Worker 0 house 4584 episode 0 object objavintagecontainer_1681199327f545f6bebc94b7408769ed_2_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 03:54:53 INFO: [Worker 0] Batching and saving trajectory data for house_4584: 1 episodes	[pipeline.py: 233]
+05/26 03:54:53 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:54:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:54:56 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4584	[save_utils.py: 703]
+05/26 03:54:56 INFO: [Worker 0] Successfully saved trajectory data for house_4584 in 3.01s (batch: 2.88s, save: 0.13s)	[pipeline.py: 280]
+05/26 03:54:56 WARNING: [Worker 0] No trajectory data to save for house_4584	[pipeline.py: 229]
+05/26 03:54:56 INFO: [Worker 0] Worker 0 completed house 4584: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:54:56 INFO: [Worker 0] Worker 0 starting house 4641 (index 16/37)	[pipeline.py: 473]
+05/26 03:54:56 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 03:54:56 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 03:55:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e2a8c3df68a94aea94050e01ad9aa918	[json_eval_task_sampler.py: 648]
+05/26 03:55:09 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/cfe3c9eed1554f59ad7756e27d97c667	[json_eval_task_sampler.py: 648]
+05/26 03:55:09 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d50f554707f24584b988e2feea162cc5	[json_eval_task_sampler.py: 648]
+05/26 03:55:09 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/26 03:55:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4641_ceiling.xml	[task_sampler.py: 797]
+05/26 03:55:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4641, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:55:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:55:14 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects	[json_eval_task_sampler.py: 686]
+05/26 03:55:14 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:55:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:55:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:55:14 INFO: [Worker 0] Sampled task 'Pick up the ancient greek kylix with artwork and place it in or on the stone bowl with crystals'	[task_sampler.py: 1136]
+05/26 03:55:14 INFO: [Worker 0] Worker 0 house 4641 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:55:14 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:55:15 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene	[object_manager.py: 1238]
+05/26 03:55:15 WARNING: [Worker 0] Could not find object objabrooch_d4aadade26e64be8a05670b0305c8d9f_1_0_7 in scene	[object_manager.py: 1238]
+05/26 03:55:15 WARNING: [Worker 0] Could not find object alarmclock_7e1337b32a9e0d9439bef16e80df0de2_1_0_7 in scene	[object_manager.py: 1238]
+05/26 04:01:30 INFO: [Worker 0] Worker 0 house 4641 episode 0 object objakylix_d9cc347595664f83bc1461c857756452_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 04:01:34 INFO: [Worker 0] Batching and saving trajectory data for house_4641: 1 episodes	[pipeline.py: 233]
+05/26 04:01:34 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:01:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:01:37 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4641	[save_utils.py: 703]
+05/26 04:01:37 INFO: [Worker 0] Successfully saved trajectory data for house_4641 in 3.25s (batch: 3.07s, save: 0.18s)	[pipeline.py: 280]
+05/26 04:01:38 WARNING: [Worker 0] No trajectory data to save for house_4641	[pipeline.py: 229]
+05/26 04:01:38 INFO: [Worker 0] Worker 0 completed house 4641: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:01:38 INFO: [Worker 0] Worker 0 starting house 4698 (index 17/37)	[pipeline.py: 473]
+05/26 04:01:38 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 04:01:38 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]
+05/26 04:01:38 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_28	[json_eval_task_sampler.py: 648]
+05/26 04:01:38 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/12ca824c9c81470d994ceccb4b5a9061	[json_eval_task_sampler.py: 648]
+05/26 04:01:38 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0aab5f2a6f744c13bffef0fccf53c0e0	[json_eval_task_sampler.py: 648]
+05/26 04:01:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4698_ceiling.xml	[task_sampler.py: 797]
+05/26 04:01:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4698, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:01:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:01:41 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects	[json_eval_task_sampler.py: 686]
+05/26 04:01:41 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:01:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:01:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:01:41 INFO: [Worker 0] Sampled task 'Pick up the sleek glossy curved plastic eyeglass frame and place it in or on the teal bowl'	[task_sampler.py: 1136]
+05/26 04:01:41 INFO: [Worker 0] Worker 0 house 4698 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:01:41 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:05:10 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]
+05/26 04:07:08 INFO: [Worker 0] Worker 0 house 4698 episode 0 object objaeyewearframe_a4b712ccca9740d4970a09a54731d812_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 04:07:11 INFO: [Worker 0] Batching and saving trajectory data for house_4698: 1 episodes	[pipeline.py: 233]
+05/26 04:07:11 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:07:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:07:14 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4698	[save_utils.py: 703]
+05/26 04:07:14 INFO: [Worker 0] Successfully saved trajectory data for house_4698 in 2.92s (batch: 2.78s, save: 0.14s)	[pipeline.py: 280]
+05/26 04:07:15 WARNING: [Worker 0] No trajectory data to save for house_4698	[pipeline.py: 229]
+05/26 04:07:15 INFO: [Worker 0] Worker 0 completed house 4698: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:07:15 INFO: [Worker 0] Worker 0 starting house 4707 (index 18/37)	[pipeline.py: 473]
+05/26 04:07:15 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 04:07:15 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 04:07:15 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/cbb67bbbe42e42189931574ce0d4926d	[json_eval_task_sampler.py: 648]
+05/26 04:07:15 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2b2f2afe691143b1a0d9c56141b028f9	[json_eval_task_sampler.py: 648]
+05/26 04:07:15 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/fdfd829fe39049a69f6df2289b29dc7f	[json_eval_task_sampler.py: 648]
+05/26 04:07:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4707_ceiling.xml	[task_sampler.py: 797]
+05/26 04:07:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4707, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:07:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:07:17 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects	[json_eval_task_sampler.py: 686]
+05/26 04:07:17 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:07:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:07:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:07:17 INFO: [Worker 0] Sampled task 'Pick up the bronze seal and place it in or on the leaf-shaped gray dish'	[task_sampler.py: 1136]
+05/26 04:07:17 INFO: [Worker 0] Worker 0 house 4707 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 04:07:17 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:10:02 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 04:13:59 INFO: [Worker 0] Worker 0 house 4707 episode 0 object objaseal_9d5e1792205e4d908035feb229b6d375_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 04:14:04 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 04:14:04 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/cbb67bbbe42e42189931574ce0d4926d	[json_eval_task_sampler.py: 648]
+05/26 04:14:04 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2b2f2afe691143b1a0d9c56141b028f9	[json_eval_task_sampler.py: 648]
+05/26 04:14:04 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/fdfd829fe39049a69f6df2289b29dc7f	[json_eval_task_sampler.py: 648]
+05/26 04:14:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4707_ceiling.xml	[task_sampler.py: 797]
+05/26 04:14:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4707, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:14:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:14:07 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects	[json_eval_task_sampler.py: 686]
+05/26 04:14:07 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:14:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:14:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:14:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:14:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:14:07 INFO: [Worker 0] Sampled task 'Pick up the yellow knife and place it in or on the rectangular vintage metal storage tin'	[task_sampler.py: 1136]
+05/26 04:14:07 INFO: [Worker 0] Worker 0 house 4707 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 04:14:07 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:17:51 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 04:21:43 INFO: [Worker 0] Worker 0 house 4707 episode 1 object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 04:21:46 INFO: [Worker 0] Batching and saving trajectory data for house_4707: 2 episodes	[pipeline.py: 233]
+05/26 04:21:47 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:21:49 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:21:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:21:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:21:52 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4707	[save_utils.py: 703]
+05/26 04:21:52 INFO: [Worker 0] Successfully saved trajectory data for house_4707 in 5.43s (batch: 5.25s, save: 0.18s)	[pipeline.py: 280]
+05/26 04:21:53 WARNING: [Worker 0] No trajectory data to save for house_4707	[pipeline.py: 229]
+05/26 04:21:53 INFO: [Worker 0] Worker 0 completed house 4707: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 04:21:53 INFO: [Worker 0] Worker 0 starting house 4738 (index 19/37)	[pipeline.py: 473]
+05/26 04:21:53 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 04:21:53 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]
+05/26 04:22:03 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0f5266888bc749ea916c69d88b375cbf	[json_eval_task_sampler.py: 648]
+05/26 04:22:03 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b8cba8b5a69543ce9875c40028261490	[json_eval_task_sampler.py: 648]
+05/26 04:22:03 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/5c5c3b9ae7874b709c10ac57dad33195	[json_eval_task_sampler.py: 648]
+05/26 04:22:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4738_ceiling.xml	[task_sampler.py: 797]
+05/26 04:22:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4738, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:22:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:22:07 INFO: [Worker 0] randomize_scene: Setting poses for 69 objects	[json_eval_task_sampler.py: 686]
+05/26 04:22:07 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:22:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:22:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:22:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:22:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:22:07 INFO: [Worker 0] Sampled task 'Pick up the folded origami paper crane and place it in or on the round gray ceramic bowl'	[task_sampler.py: 1136]
+05/26 04:22:07 INFO: [Worker 0] Worker 0 house 4738 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:22:08 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:24:01 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]
+05/26 04:28:41 INFO: [Worker 0] Worker 0 house 4738 episode 0 object objaorigamicrane_1455ff78988c49d380161281102ee908_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 04:28:45 INFO: [Worker 0] Batching and saving trajectory data for house_4738: 1 episodes	[pipeline.py: 233]
+05/26 04:28:45 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:28:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:28:49 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4738	[save_utils.py: 703]
+05/26 04:28:49 INFO: [Worker 0] Successfully saved trajectory data for house_4738 in 3.45s (batch: 3.35s, save: 0.10s)	[pipeline.py: 280]
+05/26 04:28:49 WARNING: [Worker 0] No trajectory data to save for house_4738	[pipeline.py: 229]
+05/26 04:28:49 INFO: [Worker 0] Worker 0 completed house 4738: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:28:49 INFO: [Worker 0] Worker 0 starting house 4765 (index 20/37)	[pipeline.py: 473]
+05/26 04:28:49 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 04:28:49 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 04:28:50 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/10578ce7eca64714b260b142553f34f5	[json_eval_task_sampler.py: 648]
+05/26 04:28:50 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0aab5f2a6f744c13bffef0fccf53c0e0	[json_eval_task_sampler.py: 648]
+05/26 04:28:50 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0	[json_eval_task_sampler.py: 648]
+05/26 04:28:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4765_ceiling.xml	[task_sampler.py: 797]
+05/26 04:28:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4765, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:28:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:28:52 INFO: [Worker 0] randomize_scene: Setting poses for 18 objects	[json_eval_task_sampler.py: 686]
+05/26 04:28:52 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:28:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:28:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:28:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:28:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:28:52 INFO: [Worker 0] Sampled task 'Pick up the cylindrical tape with zigzag pattern and place it in or on the shallow beige ceramic bowl with cracks'	[task_sampler.py: 1136]
+05/26 04:28:52 INFO: [Worker 0] Worker 0 house 4765 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:28:53 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:28:53 WARNING: [Worker 0] Could not find object objadecorativehorn_041a7f79ab8e4a7993f29bda7177dc3c_1_0_2 in scene	[object_manager.py: 1238]
+05/26 04:28:53 WARNING: [Worker 0] Could not find object Irishpotato_8a68fddf9d6f2cf4be39b3c60dc110ab_1_0_2 in scene	[object_manager.py: 1238]
+05/26 04:35:16 INFO: [Worker 0] Worker 0 house 4765 episode 0 object objadecorativetape_a6bece29c668474c8a01a368941f0e9a_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 04:35:20 INFO: [Worker 0] Batching and saving trajectory data for house_4765: 1 episodes	[pipeline.py: 233]
+05/26 04:35:20 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:35:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:35:22 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4765	[save_utils.py: 703]
+05/26 04:35:22 INFO: [Worker 0] Successfully saved trajectory data for house_4765 in 2.67s (batch: 2.57s, save: 0.09s)	[pipeline.py: 280]
+05/26 04:35:23 WARNING: [Worker 0] No trajectory data to save for house_4765	[pipeline.py: 229]
+05/26 04:35:23 INFO: [Worker 0] Worker 0 completed house 4765: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:35:23 INFO: [Worker 0] Worker 0 starting house 4803 (index 21/37)	[pipeline.py: 473]
+05/26 04:35:23 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 04:35:23 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 04:35:26 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/27dd012c10e64049b8ca900fe86f077f	[json_eval_task_sampler.py: 648]
+05/26 04:35:26 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/977c0bb0114e4728b7c6ccb89da913ec	[json_eval_task_sampler.py: 648]
+05/26 04:35:26 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ac2b50d2542c4f458b4ea404b8ed5e4b	[json_eval_task_sampler.py: 648]
+05/26 04:35:26 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/26 04:35:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4803_ceiling.xml	[task_sampler.py: 797]
+05/26 04:35:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4803, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:35:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:35:29 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects	[json_eval_task_sampler.py: 686]
+05/26 04:35:29 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:35:29 INFO: [Worker 0] Sampled task 'Pick up the glass eye and place it in or on the rectangular platform with recessed center'	[task_sampler.py: 1136]
+05/26 04:35:29 INFO: [Worker 0] Worker 0 house 4803 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:35:29 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:35:29 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene	[object_manager.py: 1238]
+05/26 04:35:29 WARNING: [Worker 0] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene	[object_manager.py: 1238]
+05/26 04:35:29 WARNING: [Worker 0] Could not find object objacollar_eb320910987847f0b361c8c1936d9574_1_0_5 in scene	[object_manager.py: 1238]
+05/26 04:35:29 WARNING: [Worker 0] Could not find object objaartpiece_92cadd9e10e64ea1a66f963803d79902_1_0_7 in scene	[object_manager.py: 1238]
+05/26 04:35:29 WARNING: [Worker 0] Could not find object plate_677f844114df17e12c97d63ddf0f6037_1_0_7 in scene	[object_manager.py: 1238]
+05/26 04:39:03 INFO: [Worker 0] Worker 0 house 4803 episode 0 object objadecorativeeye_9d390baaeec94960808345f88af56997_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 04:39:06 INFO: [Worker 0] Batching and saving trajectory data for house_4803: 1 episodes	[pipeline.py: 233]
+05/26 04:39:06 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:39:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:39:09 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4803	[save_utils.py: 703]
+05/26 04:39:09 INFO: [Worker 0] Successfully saved trajectory data for house_4803 in 2.38s (batch: 2.28s, save: 0.09s)	[pipeline.py: 280]
+05/26 04:39:09 WARNING: [Worker 0] No trajectory data to save for house_4803	[pipeline.py: 229]
+05/26 04:39:09 INFO: [Worker 0] Worker 0 completed house 4803: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:39:09 INFO: [Worker 0] Worker 0 starting house 4857 (index 22/37)	[pipeline.py: 473]
+05/26 04:39:09 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 04:39:09 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 04:39:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/5f6ab8152ec9440e9b922def5ae8b8b2	[json_eval_task_sampler.py: 648]
+05/26 04:39:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_24	[json_eval_task_sampler.py: 648]
+05/26 04:39:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7b3bfdab414148a08cbf46fc105e280a	[json_eval_task_sampler.py: 648]
+05/26 04:39:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4857_ceiling.xml	[task_sampler.py: 797]
+05/26 04:39:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4857, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:39:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:39:12 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects	[json_eval_task_sampler.py: 686]
+05/26 04:39:12 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:39:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:39:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:39:12 INFO: [Worker 0] Sampled task 'Pick up the steam iron and place it in or on the textured ceramic bowl with colors'	[task_sampler.py: 1136]
+05/26 04:39:12 INFO: [Worker 0] Worker 0 house 4857 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:39:12 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:40:50 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]
+05/26 04:44:23 INFO: [Worker 0] Worker 0 house 4857 episode 0 object objasteamiron_7dc6eeb22d424534b45783fbe997b302_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 04:44:28 INFO: [Worker 0] Batching and saving trajectory data for house_4857: 1 episodes	[pipeline.py: 233]
+05/26 04:44:28 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:44:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:44:31 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4857	[save_utils.py: 703]
+05/26 04:44:31 INFO: [Worker 0] Successfully saved trajectory data for house_4857 in 3.81s (batch: 3.59s, save: 0.22s)	[pipeline.py: 280]
+05/26 04:44:32 WARNING: [Worker 0] No trajectory data to save for house_4857	[pipeline.py: 229]
+05/26 04:44:32 INFO: [Worker 0] Worker 0 completed house 4857: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:44:32 INFO: [Worker 0] Worker 0 starting house 4916 (index 23/37)	[pipeline.py: 473]
+05/26 04:44:32 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 04:44:32 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]
+05/26 04:44:34 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0aab5f2a6f744c13bffef0fccf53c0e0	[json_eval_task_sampler.py: 648]
+05/26 04:44:34 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1e4b75a1bb484c42b99fcd3ddf23ae9f	[json_eval_task_sampler.py: 648]
+05/26 04:44:34 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b54b110dfccb4ea3a8f5a06cc65edc5a	[json_eval_task_sampler.py: 648]
+05/26 04:44:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4916_ceiling.xml	[task_sampler.py: 797]
+05/26 04:44:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4916, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:44:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:44:37 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects	[json_eval_task_sampler.py: 686]
+05/26 04:44:37 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:44:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:44:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:44:37 INFO: [Worker 0] Sampled task 'Pick up the gray rectangular dispenser and place it in or on the teal bowl with matte interior'	[task_sampler.py: 1136]
+05/26 04:44:37 INFO: [Worker 0] Worker 0 house 4916 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:44:37 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:46:48 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 04:52:25 INFO: [Worker 0] Worker 0 house 4916 episode 0 object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/26 04:52:29 INFO: [Worker 0] Batching and saving trajectory data for house_4916: 1 episodes	[pipeline.py: 233]
+05/26 04:52:29 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:52:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:52:32 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4916	[save_utils.py: 703]
+05/26 04:52:32 INFO: [Worker 0] Successfully saved trajectory data for house_4916 in 2.81s (batch: 2.69s, save: 0.12s)	[pipeline.py: 280]
+05/26 04:52:32 WARNING: [Worker 0] No trajectory data to save for house_4916	[pipeline.py: 229]
+05/26 04:52:32 INFO: [Worker 0] Worker 0 completed house 4916: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:52:32 INFO: [Worker 0] Worker 0 starting house 4982 (index 24/37)	[pipeline.py: 473]
+05/26 04:52:32 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 04:52:32 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 04:52:48 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7bcc0425058142c59255979a2b61f0d2	[json_eval_task_sampler.py: 648]
+05/26 04:52:48 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_13	[json_eval_task_sampler.py: 648]
+05/26 04:52:48 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/80f09dd8b3d34005b3625823091978af	[json_eval_task_sampler.py: 648]
+05/26 04:52:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4982_ceiling.xml	[task_sampler.py: 797]
+05/26 04:52:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4982, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:52:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:52:54 INFO: [Worker 0] randomize_scene: Setting poses for 102 objects	[json_eval_task_sampler.py: 686]
+05/26 04:52:54 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:52:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:52:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:52:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:52:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:52:54 INFO: [Worker 0] Sampled task 'Pick up the wing screw and place it in or on the smooth gray ceramic bowl for food'	[task_sampler.py: 1136]
+05/26 04:52:54 INFO: [Worker 0] Worker 0 house 4982 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:52:54 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:54:44 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]
+05/26 04:58:31 INFO: [Worker 0] Worker 0 house 4982 episode 0 object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/26 04:58:37 INFO: [Worker 0] Batching and saving trajectory data for house_4982: 1 episodes	[pipeline.py: 233]
+05/26 04:58:37 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:58:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:58:40 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4982	[save_utils.py: 703]
+05/26 04:58:40 INFO: [Worker 0] Successfully saved trajectory data for house_4982 in 3.74s (batch: 3.61s, save: 0.13s)	[pipeline.py: 280]
+05/26 04:58:41 WARNING: [Worker 0] No trajectory data to save for house_4982	[pipeline.py: 229]
+05/26 04:58:41 INFO: [Worker 0] Worker 0 completed house 4982: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:58:41 INFO: [Worker 0] Worker 0 starting house 5004 (index 25/37)	[pipeline.py: 473]
+05/26 04:58:41 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 04:58:41 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 04:58:48 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/fe6a6e9cf17545179f8c6b81e5499b46	[json_eval_task_sampler.py: 648]
+05/26 04:58:48 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/37d330a69f964e4689d8f4b57faf89f5	[json_eval_task_sampler.py: 648]
+05/26 04:58:48 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e11475635c464216a2213d65c45a319a	[json_eval_task_sampler.py: 648]
+05/26 04:58:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5004_ceiling.xml	[task_sampler.py: 797]
+05/26 04:58:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5004, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:58:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:58:54 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects	[json_eval_task_sampler.py: 686]
+05/26 04:58:54 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:58:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:58:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:58:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:58:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:58:54 INFO: [Worker 0] Sampled task 'Pick up the black leather collar with spikes and place it in or on the round gray bowl'	[task_sampler.py: 1136]
+05/26 04:58:54 INFO: [Worker 0] Worker 0 house 5004 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 04:58:54 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:58:54 WARNING: [Worker 0] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene	[object_manager.py: 1238]
+05/26 05:05:50 INFO: [Worker 0] Worker 0 house 5004 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/26 05:05:54 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 05:05:56 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/fe6a6e9cf17545179f8c6b81e5499b46	[json_eval_task_sampler.py: 648]
+05/26 05:05:56 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/37d330a69f964e4689d8f4b57faf89f5	[json_eval_task_sampler.py: 648]
+05/26 05:05:56 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e11475635c464216a2213d65c45a319a	[json_eval_task_sampler.py: 648]
+05/26 05:06:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5004_ceiling.xml	[task_sampler.py: 797]
+05/26 05:06:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5004, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:06:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:06:01 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects	[json_eval_task_sampler.py: 686]
+05/26 05:06:01 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:06:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:06:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:06:01 INFO: [Worker 0] Sampled task 'Pick up the pink stylized fish with white spot and place it in or on the light gray shallow round bowl'	[task_sampler.py: 1136]
+05/26 05:06:01 INFO: [Worker 0] Worker 0 house 5004 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 05:06:01 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:06:02 WARNING: [Worker 0] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene	[object_manager.py: 1238]
+05/26 05:09:13 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]
+05/26 05:17:59 INFO: [Worker 0] Worker 0 house 5004 episode 1 object objafish_a7e1f30e664a4db18ecea3c6ffb0a90c_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 05:18:04 INFO: [Worker 0] Batching and saving trajectory data for house_5004: 2 episodes	[pipeline.py: 233]
+05/26 05:18:04 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:18:07 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:18:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:18:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:18:11 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5004	[save_utils.py: 703]
+05/26 05:18:11 INFO: [Worker 0] Successfully saved trajectory data for house_5004 in 6.76s (batch: 6.44s, save: 0.32s)	[pipeline.py: 280]
+05/26 05:18:12 WARNING: [Worker 0] No trajectory data to save for house_5004	[pipeline.py: 229]
+05/26 05:18:12 INFO: [Worker 0] Worker 0 completed house 5004: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 05:18:12 INFO: [Worker 0] Worker 0 starting house 5020 (index 26/37)	[pipeline.py: 473]
+05/26 05:18:12 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 05:18:12 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 05:18:14 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7bcc0425058142c59255979a2b61f0d2	[json_eval_task_sampler.py: 648]
+05/26 05:18:14 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/80f09dd8b3d34005b3625823091978af	[json_eval_task_sampler.py: 648]
+05/26 05:18:14 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/836b48b21dcb4842a208c66f106abf18	[json_eval_task_sampler.py: 648]
+05/26 05:18:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5020_ceiling.xml	[task_sampler.py: 797]
+05/26 05:18:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5020, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:18:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:18:19 INFO: [Worker 0] randomize_scene: Setting poses for 75 objects	[json_eval_task_sampler.py: 686]
+05/26 05:18:19 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:18:19 INFO: [Worker 0] Sampled task 'Pick up the gray shackle with orange pin and place it in or on the tan decorative bowl'	[task_sampler.py: 1136]
+05/26 05:18:19 INFO: [Worker 0] Worker 0 house 5020 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 05:18:19 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:21:06 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]
+05/26 05:25:11 INFO: [Worker 0] Worker 0 house 5020 episode 0 object objashackle_d956a23797094d87aa85c1a139c15d68_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 05:25:16 INFO: [Worker 0] Batching and saving trajectory data for house_5020: 1 episodes	[pipeline.py: 233]
+05/26 05:25:16 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:25:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:25:20 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5020	[save_utils.py: 703]
+05/26 05:25:20 INFO: [Worker 0] Successfully saved trajectory data for house_5020 in 3.65s (batch: 3.43s, save: 0.22s)	[pipeline.py: 280]
+05/26 05:25:21 WARNING: [Worker 0] No trajectory data to save for house_5020	[pipeline.py: 229]
+05/26 05:25:21 INFO: [Worker 0] Worker 0 completed house 5020: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 05:25:21 INFO: [Worker 0] Worker 0 starting house 5115 (index 27/37)	[pipeline.py: 473]
+05/26 05:25:21 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 05:25:21 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 05:25:23 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/fdfd829fe39049a69f6df2289b29dc7f	[json_eval_task_sampler.py: 648]
+05/26 05:25:23 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/12ca824c9c81470d994ceccb4b5a9061	[json_eval_task_sampler.py: 648]
+05/26 05:25:23 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/1e23d9b649a643528ce00de750e858de	[json_eval_task_sampler.py: 648]
+05/26 05:25:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5115_ceiling.xml	[task_sampler.py: 797]
+05/26 05:25:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5115, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:25:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:25:26 INFO: [Worker 0] randomize_scene: Setting poses for 9 objects	[json_eval_task_sampler.py: 686]
+05/26 05:25:26 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:25:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:25:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:25:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:25:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:25:26 INFO: [Worker 0] Sampled task 'Pick up the olive-green spray can and place it in or on the rustic round ceramic bowl'	[task_sampler.py: 1136]
+05/26 05:25:26 INFO: [Worker 0] Worker 0 house 5115 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 05:25:26 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:29:41 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]
+05/26 05:32:50 INFO: [Worker 0] Worker 0 house 5115 episode 0 object objaspraycan_e9c031fbf1bd451998676923027e296a_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 05:32:55 INFO: [Worker 0] Batching and saving trajectory data for house_5115: 1 episodes	[pipeline.py: 233]
+05/26 05:32:55 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:32:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:32:59 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5115	[save_utils.py: 703]
+05/26 05:32:59 INFO: [Worker 0] Successfully saved trajectory data for house_5115 in 3.99s (batch: 3.84s, save: 0.15s)	[pipeline.py: 280]
+05/26 05:33:00 WARNING: [Worker 0] No trajectory data to save for house_5115	[pipeline.py: 229]
+05/26 05:33:00 INFO: [Worker 0] Worker 0 completed house 5115: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 05:33:00 INFO: [Worker 0] Worker 0 starting house 5164 (index 28/37)	[pipeline.py: 473]
+05/26 05:33:00 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 05:33:00 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 05:33:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/93ef7da87b1e43fbb47f3b26b927f777	[json_eval_task_sampler.py: 648]
+05/26 05:33:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5f6ab8152ec9440e9b922def5ae8b8b2	[json_eval_task_sampler.py: 648]
+05/26 05:33:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/74f5c16ba1f5406ba30bda961f0c0bd1	[json_eval_task_sampler.py: 648]
+05/26 05:33:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5164_ceiling.xml	[task_sampler.py: 797]
+05/26 05:33:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5164, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:33:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:33:10 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects	[json_eval_task_sampler.py: 686]
+05/26 05:33:10 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:33:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:33:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:33:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:33:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:33:11 INFO: [Worker 0] Sampled task 'Pick up the moka pot and place it in or on the blue pot'	[task_sampler.py: 1136]
+05/26 05:33:11 INFO: [Worker 0] Worker 0 house 5164 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 05:33:11 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:36:23 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 05:39:27 INFO: [Worker 0] Worker 0 house 5164 episode 0 object objamokapot_eb0d9a02bb39465e95d82e84dd86a654_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 05:39:31 INFO: [Worker 0] Batching and saving trajectory data for house_5164: 1 episodes	[pipeline.py: 233]
+05/26 05:39:31 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:39:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:39:34 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5164	[save_utils.py: 703]
+05/26 05:39:34 INFO: [Worker 0] Successfully saved trajectory data for house_5164 in 3.42s (batch: 3.22s, save: 0.20s)	[pipeline.py: 280]
+05/26 05:39:35 WARNING: [Worker 0] No trajectory data to save for house_5164	[pipeline.py: 229]
+05/26 05:39:35 INFO: [Worker 0] Worker 0 completed house 5164: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 05:39:35 INFO: [Worker 0] Worker 0 starting house 5218 (index 29/37)	[pipeline.py: 473]
+05/26 05:39:35 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 05:39:35 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]
+05/26 05:39:36 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b8cba8b5a69543ce9875c40028261490	[json_eval_task_sampler.py: 648]
+05/26 05:39:36 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2df58d08f5604c058d43e00677d325b6	[json_eval_task_sampler.py: 648]
+05/26 05:39:36 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/56dccb62700a4c04b42646e060c087f5	[json_eval_task_sampler.py: 648]
+05/26 05:39:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5218_ceiling.xml	[task_sampler.py: 797]
+05/26 05:39:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5218, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:39:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:39:39 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects	[json_eval_task_sampler.py: 686]
+05/26 05:39:39 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:39:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:39:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:39:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:39:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:39:39 INFO: [Worker 0] Sampled task 'Pick up the partially burned white candle and place it in or on the glossy brown ceramic bowl with swirls'	[task_sampler.py: 1136]
+05/26 05:39:39 INFO: [Worker 0] Worker 0 house 5218 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 05:39:39 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:42:53 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]
+05/26 05:48:08 INFO: [Worker 0] Worker 0 house 5218 episode 0 object objacandle_d6c8730447ce4ddfb6c5b72609216476_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/26 05:48:13 INFO: [Worker 0] Batching and saving trajectory data for house_5218: 1 episodes	[pipeline.py: 233]
+05/26 05:48:13 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:48:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:48:17 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5218	[save_utils.py: 703]
+05/26 05:48:17 INFO: [Worker 0] Successfully saved trajectory data for house_5218 in 3.24s (batch: 3.08s, save: 0.15s)	[pipeline.py: 280]
+05/26 05:48:17 WARNING: [Worker 0] No trajectory data to save for house_5218	[pipeline.py: 229]
+05/26 05:48:17 INFO: [Worker 0] Worker 0 completed house 5218: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 05:48:17 INFO: [Worker 0] Worker 0 starting house 5287 (index 30/37)	[pipeline.py: 473]
+05/26 05:48:17 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 05:48:17 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 05:48:26 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/936714802d2849bea3efb1eb5c83cee6	[json_eval_task_sampler.py: 648]
+05/26 05:48:26 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_25	[json_eval_task_sampler.py: 648]
+05/26 05:48:26 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/15607bdf52a64f81a7555de4cfad4029	[json_eval_task_sampler.py: 648]
+05/26 05:48:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5287_ceiling.xml	[task_sampler.py: 797]
+05/26 05:48:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5287, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:48:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:48:31 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects	[json_eval_task_sampler.py: 686]
+05/26 05:48:32 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:48:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:48:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:48:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:48:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:48:32 INFO: [Worker 0] Sampled task 'Pick up the orange brush and place it in or on the irregular shaped reddish clay bowl'	[task_sampler.py: 1136]
+05/26 05:48:32 INFO: [Worker 0] Worker 0 house 5287 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 05:48:32 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:55:48 INFO: [Worker 0] Worker 0 house 5287 episode 0 object objabrush_f8f0d72e40d24bf8afa4b0157cbcb7c7_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/26 05:55:53 INFO: [Worker 0] Batching and saving trajectory data for house_5287: 1 episodes	[pipeline.py: 233]
+05/26 05:55:53 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:55:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:55:57 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5287	[save_utils.py: 703]
+05/26 05:55:57 INFO: [Worker 0] Successfully saved trajectory data for house_5287 in 4.04s (batch: 3.73s, save: 0.30s)	[pipeline.py: 280]
+05/26 05:55:58 WARNING: [Worker 0] No trajectory data to save for house_5287	[pipeline.py: 229]
+05/26 05:55:58 INFO: [Worker 0] Worker 0 completed house 5287: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 05:55:58 INFO: [Worker 0] Worker 0 starting house 5359 (index 31/37)	[pipeline.py: 473]
+05/26 05:55:58 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 05:55:58 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 05:56:01 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/561e6757555049fca93f56e479f7cbe4	[json_eval_task_sampler.py: 648]
+05/26 05:56:01 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/12ca824c9c81470d994ceccb4b5a9061	[json_eval_task_sampler.py: 648]
+05/26 05:56:01 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/472cceee5a224ff6933e7baf31d16641	[json_eval_task_sampler.py: 648]
+05/26 05:56:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5359_ceiling.xml	[task_sampler.py: 797]
+05/26 05:56:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5359, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:56:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:56:08 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects	[json_eval_task_sampler.py: 686]
+05/26 05:56:08 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:56:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:56:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:56:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:56:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:56:08 INFO: [Worker 0] Sampled task 'Pick up the wooden corkscrew and place it in or on the round small beige bowl'	[task_sampler.py: 1136]
+05/26 05:56:08 INFO: [Worker 0] Worker 0 house 5359 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 05:56:08 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:56:09 WARNING: [Worker 0] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 in scene	[object_manager.py: 1238]
+05/26 05:56:09 WARNING: [Worker 0] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_5 in scene	[object_manager.py: 1238]
+05/26 05:58:16 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]
+05/26 06:01:52 INFO: [Worker 0] Worker 0 house 5359 episode 0 object objacorkscrew_63c8864e17844947b75f6cd32d8e5224_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 06:01:55 INFO: [Worker 0] Batching and saving trajectory data for house_5359: 1 episodes	[pipeline.py: 233]
+05/26 06:01:55 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:01:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:01:58 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5359	[save_utils.py: 703]
+05/26 06:01:58 INFO: [Worker 0] Successfully saved trajectory data for house_5359 in 2.53s (batch: 2.44s, save: 0.10s)	[pipeline.py: 280]
+05/26 06:01:58 WARNING: [Worker 0] No trajectory data to save for house_5359	[pipeline.py: 229]
+05/26 06:01:58 INFO: [Worker 0] Worker 0 completed house 5359: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 06:01:58 INFO: [Worker 0] Worker 0 starting house 5389 (index 32/37)	[pipeline.py: 473]
+05/26 06:01:58 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 06:01:58 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 06:02:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b60e63f150034acbabd32dc9ef8563de	[json_eval_task_sampler.py: 648]
+05/26 06:02:09 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/372c4540cbe148b9bddcbbf1761b5e81	[json_eval_task_sampler.py: 648]
+05/26 06:02:09 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/f42af504c27649c78412bafd25665e46	[json_eval_task_sampler.py: 648]
+05/26 06:02:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5389_ceiling.xml	[task_sampler.py: 797]
+05/26 06:02:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5389, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:02:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:02:11 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects	[json_eval_task_sampler.py: 686]
+05/26 06:02:11 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:02:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:02:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:02:11 INFO: [Worker 0] Sampled task 'Pick up the thin white electronic display showing promotion and place it in or on the shallow rustic brown coconut bowl'	[task_sampler.py: 1136]
+05/26 06:02:11 INFO: [Worker 0] Worker 0 house 5389 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 06:02:11 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:07:57 INFO: [Worker 0] Worker 0 house 5389 episode 0 object objaelectronicdisplay_39fdfa7c14a640b58a5ff5e47a1af37c_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 06:08:03 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 06:08:04 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b60e63f150034acbabd32dc9ef8563de	[json_eval_task_sampler.py: 648]
+05/26 06:08:04 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/372c4540cbe148b9bddcbbf1761b5e81	[json_eval_task_sampler.py: 648]
+05/26 06:08:04 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/f42af504c27649c78412bafd25665e46	[json_eval_task_sampler.py: 648]
+05/26 06:08:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5389_ceiling.xml	[task_sampler.py: 797]
+05/26 06:08:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5389, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:08:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:08:08 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects	[json_eval_task_sampler.py: 686]
+05/26 06:08:08 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:08:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:08:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:08:08 INFO: [Worker 0] Sampled task 'Pick up the hexagonal metallic light projector and place it in or on the shallow rustic brown coconut bowl'	[task_sampler.py: 1136]
+05/26 06:08:08 INFO: [Worker 0] Worker 0 house 5389 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 06:08:08 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:12:11 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 06:15:30 INFO: [Worker 0] Worker 0 house 5389 episode 1 object objaholographicprojector_137582d0c2774eaaad2400a9f9944df4_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 06:15:34 INFO: [Worker 0] Batching and saving trajectory data for house_5389: 2 episodes	[pipeline.py: 233]
+05/26 06:15:34 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:15:37 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:15:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:15:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:15:40 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5389	[save_utils.py: 703]
+05/26 06:15:40 INFO: [Worker 0] Successfully saved trajectory data for house_5389 in 5.31s (batch: 5.13s, save: 0.18s)	[pipeline.py: 280]
+05/26 06:15:40 WARNING: [Worker 0] No trajectory data to save for house_5389	[pipeline.py: 229]
+05/26 06:15:40 INFO: [Worker 0] Worker 0 completed house 5389: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 06:15:40 INFO: [Worker 0] Worker 0 starting house 5424 (index 33/37)	[pipeline.py: 473]
+05/26 06:15:40 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 06:15:40 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 06:15:44 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b4058303001a4878bbe5c3f248dedd78	[json_eval_task_sampler.py: 648]
+05/26 06:15:44 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_4	[json_eval_task_sampler.py: 648]
+05/26 06:15:44 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/5f6ab8152ec9440e9b922def5ae8b8b2	[json_eval_task_sampler.py: 648]
+05/26 06:15:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5424_ceiling.xml	[task_sampler.py: 797]
+05/26 06:15:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5424, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:15:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:15:47 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects	[json_eval_task_sampler.py: 686]
+05/26 06:15:47 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:15:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:15:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:15:47 INFO: [Worker 0] Sampled task 'Pick up the oval bronze seal with engraved figure and place it in or on the rustic ceramic bowl with earthy tones'	[task_sampler.py: 1136]
+05/26 06:15:47 INFO: [Worker 0] Worker 0 house 5424 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 06:15:47 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:18:57 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 06:23:25 INFO: [Worker 0] Worker 0 house 5424 episode 0 object objaseal_9d5e1792205e4d908035feb229b6d375_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 06:23:29 INFO: [Worker 0] Batching and saving trajectory data for house_5424: 1 episodes	[pipeline.py: 233]
+05/26 06:23:29 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:23:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:23:32 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5424	[save_utils.py: 703]
+05/26 06:23:32 INFO: [Worker 0] Successfully saved trajectory data for house_5424 in 3.20s (batch: 2.99s, save: 0.21s)	[pipeline.py: 280]
+05/26 06:23:33 WARNING: [Worker 0] No trajectory data to save for house_5424	[pipeline.py: 229]
+05/26 06:23:33 INFO: [Worker 0] Worker 0 completed house 5424: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 06:23:33 INFO: [Worker 0] Worker 0 starting house 5465 (index 34/37)	[pipeline.py: 473]
+05/26 06:23:33 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 06:23:33 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]
+05/26 06:23:47 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ede795f1c6f74a99b6952183f340fcb8	[json_eval_task_sampler.py: 648]
+05/26 06:23:47 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/8c419f6d0cbc4580a2e2b9d273969b97	[json_eval_task_sampler.py: 648]
+05/26 06:23:47 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/71c1d24834ca4725963d69d5bb0a5011	[json_eval_task_sampler.py: 648]
+05/26 06:23:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5465_ceiling.xml	[task_sampler.py: 797]
+05/26 06:23:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5465, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:23:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:23:53 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects	[json_eval_task_sampler.py: 686]
+05/26 06:23:53 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:23:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:23:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:23:53 INFO: [Worker 0] Sampled task 'Pick up the red polka dot bowtie and place it in or on the green bowl'	[task_sampler.py: 1136]
+05/26 06:23:53 INFO: [Worker 0] Worker 0 house 5465 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 06:23:54 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:28:36 INFO: [Worker 0] Worker 0 house 5465 episode 0 object objabowtie_a3f9109d67fe429aa527428dcdac1c6e_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 06:28:40 INFO: [Worker 0] Batching and saving trajectory data for house_5465: 1 episodes	[pipeline.py: 233]
+05/26 06:28:40 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:28:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:28:42 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5465	[save_utils.py: 703]
+05/26 06:28:42 INFO: [Worker 0] Successfully saved trajectory data for house_5465 in 2.70s (batch: 2.58s, save: 0.13s)	[pipeline.py: 280]
+05/26 06:28:43 WARNING: [Worker 0] No trajectory data to save for house_5465	[pipeline.py: 229]
+05/26 06:28:43 INFO: [Worker 0] Worker 0 completed house 5465: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 06:28:43 INFO: [Worker 0] Worker 0 starting house 5491 (index 35/37)	[pipeline.py: 473]
+05/26 06:28:43 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 06:28:43 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 06:28:45 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/93ef7da87b1e43fbb47f3b26b927f777	[json_eval_task_sampler.py: 648]
+05/26 06:28:45 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d318587cfc624b18b52a3a7fb7124373	[json_eval_task_sampler.py: 648]
+05/26 06:28:46 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_19	[json_eval_task_sampler.py: 648]
+05/26 06:28:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5491_ceiling.xml	[task_sampler.py: 797]
+05/26 06:28:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5491, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:28:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:28:48 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects	[json_eval_task_sampler.py: 686]
+05/26 06:28:48 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:28:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:28:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:28:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:28:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:28:48 INFO: [Worker 0] Sampled task 'Pick up the worn turquoise can and place it in or on the blue pot'	[task_sampler.py: 1136]
+05/26 06:28:48 INFO: [Worker 0] Worker 0 house 5491 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 06:28:48 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:31:20 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]
+05/26 06:33:44 INFO: [Worker 0] Worker 0 house 5491 episode 0 object objafoodcan_7f5083c31b074cc3a08bf2bd4ef16591_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 06:33:48 INFO: [Worker 0] Batching and saving trajectory data for house_5491: 1 episodes	[pipeline.py: 233]
+05/26 06:33:48 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:33:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:33:50 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5491	[save_utils.py: 703]
+05/26 06:33:50 INFO: [Worker 0] Successfully saved trajectory data for house_5491 in 2.66s (batch: 2.54s, save: 0.12s)	[pipeline.py: 280]
+05/26 06:33:51 WARNING: [Worker 0] No trajectory data to save for house_5491	[pipeline.py: 229]
+05/26 06:33:51 INFO: [Worker 0] Worker 0 completed house 5491: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 06:33:51 INFO: [Worker 0] Worker 0 starting house 5537 (index 36/37)	[pipeline.py: 473]
+05/26 06:33:51 INFO: [Worker 0] 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	[json_eval_runner.py: 278]
+05/26 06:33:51 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]
+05/26 06:33:55 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/24ee73c87dcf4161a630bb65dee2a7a5	[json_eval_task_sampler.py: 648]
+05/26 06:33:55 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_21	[json_eval_task_sampler.py: 648]
+05/26 06:33:55 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4	[json_eval_task_sampler.py: 648]
+05/26 06:33:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5537_ceiling.xml	[task_sampler.py: 797]
+05/26 06:33:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5537, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:33:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:33:59 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects	[json_eval_task_sampler.py: 686]
+05/26 06:33:59 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:33:59 INFO: [Worker 0] Sampled task 'Pick up the glossy u-shaped blue and red magnet and place it in or on the round gray bowl'	[task_sampler.py: 1136]
+05/26 06:33:59 INFO: [Worker 0] Worker 0 house 5537 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 06:34:00 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:34:00 WARNING: [Worker 0] Could not find object objareplicagrenade_35bb02f065604241a6119f7623978332_1_0_8 in scene	[object_manager.py: 1238]
+05/26 06:34:00 WARNING: [Worker 0] Could not find object soapdispenser_a44357a2040f1b94a5a7e0de00e153b6_1_0_8 in scene	[object_manager.py: 1238]
+05/26 06:35:56 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 06:41:47 INFO: [Worker 0] Worker 0 house 5537 episode 0 object objamagnet_203d2234abaf4e33851d2ab311015da7_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 06:41:52 INFO: [Worker 0] Batching and saving trajectory data for house_5537: 1 episodes	[pipeline.py: 233]
+05/26 06:41:52 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:41:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:41:56 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5537	[save_utils.py: 703]
+05/26 06:41:56 INFO: [Worker 0] Successfully saved trajectory data for house_5537 in 3.70s (batch: 3.46s, save: 0.24s)	[pipeline.py: 280]
+05/26 06:41:57 WARNING: [Worker 0] No trajectory data to save for house_5537	[pipeline.py: 229]
+05/26 06:41:57 INFO: [Worker 0] Worker 0 completed house 5537: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 06:41:57 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 526]
+05/26 06:41:58 INFO: Completed 37 houses, skipped 0 houses	[pipeline.py: 1496]
+05/26 06:41:58 INFO: Success count: 0, Total count: 42	[pipeline.py: 1499]
+05/26 06:41:58 INFO: Success rate: 0.00%	[pipeline.py: 1500]
diff --git a/pnp_v2/pnp_v2/shards/shard_00/eval/episode_results.jsonl b/pnp_v2/pnp_v2/shards/shard_00/eval/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..04d80f35c5e8926c229d3a8e8d8288f387f37832
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_00/eval/episode_results.jsonl
@@ -0,0 +1,42 @@
+{"house_id": "house_3871", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the stockfish and place it in or on the brown wooden leaf tray", "object_name": "objadriedfish_00fbc8e52f834ba78b25ffb6962b98e8_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3871/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3871", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact green radio and place it in or on the gray bowl", "object_name": "objaemergencyradio_875d6d844ced424bb9eaa5659ef888ac_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3871/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3898", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal hex screw and place it in or on the shallow round bowl with feet", "object_name": "objascrew_477a7178be2b4f709bb4fe2d724f47cf_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3898/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3945", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular gold ornate openwork ornament and place it in or on the teal box with heart", "object_name": "objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3945/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3990", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the instrumentation and place it in or on the rusty metal tray with meat", "object_name": "objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3990/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4017", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige taco filled with toppings and place it in or on the gray bowl", "object_name": "objadecorativefoodmodel_9c9d11d317814c2085da004146c4917c_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4017/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4068", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the curved sleek modern handset and place it in or on the sculptural bowl with earthy texture", "object_name": "objatelephonehandset_0ddfdf35baa6475d9ba001a570eaeebd_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4068/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4133", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue birthday card with fox and rabbit and place it in or on the round handmade rustic earthy bowl", "object_name": "objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4133/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4205", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teacup and place it in or on the ceramic bowl filled with rice and peas", "object_name": "objateacup_ccc2c0af285d479b8c5961d3c678aefc_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4205/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4270", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the olive scalloped ceramic plate and place it in or on the round metallic bowl with patina", "object_name": "plate_ac19ca22ae10d8179cdc8dc68e02072d_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4270/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4295", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark gray metal shackle with orange pin and place it in or on the red clay bowl with zigzag pattern", "object_name": "objashackle_f04582e626ee4b09b5b870a2730d12b7_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4295/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4295", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the keypad and place it in or on the gray rough textured bowl", "object_name": "objasecuritykeypad_e3e26581572f467d84958a12d6305aae_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4295/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4346", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth cylindrical wooden rod and place it in or on the patchwork ceramic bowl rustic", "object_name": "objawoodenrod_93e71d2e393c4992a3bf47eb1fc7e3f7_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4346/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4374", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple candy wrapper with lighthouse design and place it in or on the blue bowl", "object_name": "objacandywrapper_4a0fdf73d0474d778fd65ba220f50a71_2_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4374/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4411", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular wooden luggage tag with engraving and place it in or on the smooth silver bowl", "object_name": "objaluggagetag_8564a22483104f8aac76a02c12db952a_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4411/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4484", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the irregular charred wooden fragment and place it in or on the patchwork ceramic bowl rustic", "object_name": "objawood_ae78ba7e73fc4c47a99f4cde24adc46f_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4484/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4540", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small beige clay tablet with engravings and place it in or on the ceramic bowl", "object_name": "objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_2_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4540/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4584", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal container with label and place it in or on the rustic round clay dish with handles", "object_name": "objavintagecontainer_1681199327f545f6bebc94b7408769ed_2_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4584/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4641", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ancient greek kylix with artwork and place it in or on the stone bowl with crystals", "object_name": "objakylix_d9cc347595664f83bc1461c857756452_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4641/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4698", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek glossy curved plastic eyeglass frame and place it in or on the teal bowl", "object_name": "objaeyewearframe_a4b712ccca9740d4970a09a54731d812_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4698/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4707", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bronze seal and place it in or on the leaf-shaped gray dish", "object_name": "objaseal_9d5e1792205e4d908035feb229b6d375_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4707/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4707", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow knife and place it in or on the rectangular vintage metal storage tin", "object_name": "knife_8409451f726b7f0640a91ddd7ae630cf_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4707/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4738", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the folded origami paper crane and place it in or on the round gray ceramic bowl", "object_name": "objaorigamicrane_1455ff78988c49d380161281102ee908_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4738/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4765", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cylindrical tape with zigzag pattern and place it in or on the shallow beige ceramic bowl with cracks", "object_name": "objadecorativetape_a6bece29c668474c8a01a368941f0e9a_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4765/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4803", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glass eye and place it in or on the rectangular platform with recessed center", "object_name": "objadecorativeeye_9d390baaeec94960808345f88af56997_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4803/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4857", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the steam iron and place it in or on the textured ceramic bowl with colors", "object_name": "objasteamiron_7dc6eeb22d424534b45783fbe997b302_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4857/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4916", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray rectangular dispenser and place it in or on the teal bowl with matte interior", "object_name": "objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4916/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4982", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wing screw and place it in or on the smooth gray ceramic bowl for food", "object_name": "objahandle_a168ec0564fb4a1e98caadee6866be28_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4982/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5004", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black leather collar with spikes and place it in or on the round gray bowl", "object_name": "objacollar_5f329a75ab1a4890868ba37061ca3396_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5004/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5004", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink stylized fish with white spot and place it in or on the light gray shallow round bowl", "object_name": "objafish_a7e1f30e664a4db18ecea3c6ffb0a90c_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5004/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5020", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray shackle with orange pin and place it in or on the tan decorative bowl", "object_name": "objashackle_d956a23797094d87aa85c1a139c15d68_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5020/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5115", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the olive-green spray can and place it in or on the rustic round ceramic bowl", "object_name": "objaspraycan_e9c031fbf1bd451998676923027e296a_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5115/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5164", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the moka pot and place it in or on the blue pot", "object_name": "objamokapot_eb0d9a02bb39465e95d82e84dd86a654_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5164/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5218", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the partially burned white candle and place it in or on the glossy brown ceramic bowl with swirls", "object_name": "objacandle_d6c8730447ce4ddfb6c5b72609216476_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5218/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5287", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange brush and place it in or on the irregular shaped reddish clay bowl", "object_name": "objabrush_f8f0d72e40d24bf8afa4b0157cbcb7c7_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5287/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5359", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden corkscrew and place it in or on the round small beige bowl", "object_name": "objacorkscrew_63c8864e17844947b75f6cd32d8e5224_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5359/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5389", "episode_idx": 0, "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 shallow 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5389/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5389", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hexagonal metallic light projector and place it in or on the shallow rustic brown coconut bowl", "object_name": "objaholographicprojector_137582d0c2774eaaad2400a9f9944df4_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5389/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5424", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the oval bronze seal with engraved figure and place it in or on the rustic ceramic bowl with earthy tones", "object_name": "objaseal_9d5e1792205e4d908035feb229b6d375_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5424/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5465", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red polka dot bowtie and place it in or on the green bowl", "object_name": "objabowtie_a3f9109d67fe429aa527428dcdac1c6e_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5465/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5491", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the worn turquoise can and place it in or on the blue pot", "object_name": "objafoodcan_7f5083c31b074cc3a08bf2bd4ef16591_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5491/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5537", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy u-shaped blue and red magnet and place it in or on the round gray bowl", "object_name": "objamagnet_203d2234abaf4e33851d2ab311015da7_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5537/trajectories_batch_1_of_1.h5", "metadata": {}}
diff --git a/pnp_v2/pnp_v2/shards/shard_00/eval/eval.log b/pnp_v2/pnp_v2/shards/shard_00/eval/eval.log
new file mode 100644
index 0000000000000000000000000000000000000000..e192e21bd3a015f4554d7b34430c24f15168b0e4
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_00/eval/eval.log
@@ -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
+
Checking objects/objaverse:   0%|          | 0/36 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 36/36 [00:00<00:00, 2247.62it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/18 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 18/18 [00:00<00:00, 25343.23it/s]
+[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
Checking objects/objaverse:   0%|          | 0/36 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 36/36 [00:00<00:00, 62731.59it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/18 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 18/18 [00:00<00:00, 42605.80it/s]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/40 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 40/40 [00:00<00:00, 50503.36it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:09<00:27,  9.22s/it]
Extracting:  50%|█████     | 2/4 [00:34<00:37, 18.89s/it]
Extracting:  75%|███████▌  | 3/4 [00:37<00:11, 11.64s/it]
Extracting: 100%|██████████| 4/4 [00:53<00:00, 13.12s/it]
Extracting: 100%|██████████| 4/4 [00:53<00:00, 13.32s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/18 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 18/18 [00:00<00:00, 41619.33it/s]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/49 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 49/49 [00:00<00:00, 37030.79it/s]
+
Extracting:   0%|          | 0/7 [00:00<?, ?it/s]
Extracting:  14%|█▍        | 1/7 [00:21<02:10, 21.76s/it]
Extracting:  29%|██▊       | 2/7 [00:50<02:10, 26.06s/it]
Extracting:  43%|████▎     | 3/7 [01:00<01:14, 18.74s/it]
Extracting:  57%|█████▋    | 4/7 [01:19<00:55, 18.64s/it]
Extracting:  71%|███████▏  | 5/7 [01:34<00:34, 17.39s/it]
Extracting:  86%|████████▌ | 6/7 [01:37<00:12, 12.38s/it]
Extracting: 100%|██████████| 7/7 [02:01<00:00, 16.36s/it]
Extracting: 100%|██████████| 7/7 [02:01<00:00, 17.39s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/21 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 21/21 [00:00<00:00, 29214.06it/s]
+
Extracting:   0%|          | 0/5 [00:00<?, ?it/s]
Extracting:  20%|██        | 1/5 [00:03<00:14,  3.64s/it]
Extracting:  40%|████      | 2/5 [00:07<00:10,  3.55s/it]
Extracting:  60%|██████    | 3/5 [00:09<00:06,  3.20s/it]
Extracting:  80%|████████  | 4/5 [00:11<00:02,  2.61s/it]
Extracting: 100%|██████████| 5/5 [00:12<00:00,  2.14s/it]
Extracting: 100%|██████████| 5/5 [00:12<00:00,  2.59s/it]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/30 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 30/30 [00:00<00:00, 56552.41it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/11 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 11/11 [00:00<00:00, 62601.55it/s]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/49 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 49/49 [00:00<00:00, 42392.92it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:16<00:33, 16.99s/it]
Extracting:  67%|██████▋   | 2/3 [00:32<00:15, 15.90s/it]
Extracting: 100%|██████████| 3/3 [00:41<00:00, 12.92s/it]
Extracting: 100%|██████████| 3/3 [00:41<00:00, 13.83s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/20 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 20/20 [00:00<00:00, 50963.60it/s]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/30 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 30/30 [00:00<00:00, 42886.54it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/8 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 8/8 [00:00<00:00, 46929.28it/s]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/60 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 60/60 [00:00<00:00, 57052.42it/s]
+
Extracting:   0%|          | 0/5 [00:00<?, ?it/s]
Extracting:  20%|██        | 1/5 [00:01<00:05,  1.50s/it]
Extracting:  40%|████      | 2/5 [00:02<00:04,  1.42s/it]
Extracting:  60%|██████    | 3/5 [00:04<00:02,  1.43s/it]
Extracting:  80%|████████  | 4/5 [00:05<00:01,  1.48s/it]
Extracting: 100%|██████████| 5/5 [00:06<00:00,  1.33s/it]
Extracting: 100%|██████████| 5/5 [00:06<00:00,  1.39s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/28 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 28/28 [00:00<00:00, 6350.88it/s]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/30 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 30/30 [00:00<00:00, 48620.22it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/14 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 14/14 [00:00<00:00, 47469.89it/s]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/45 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 45/45 [00:00<00:00, 46834.66it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/13 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 13/13 [00:00<00:00, 34444.69it/s]
+[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]
Checking objects/objaverse: 100%|██████████| 49/49 [00:00<00:00, 46070.59it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/24 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 24/24 [00:00<00:00, 1312.55it/s]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/49 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 49/49 [00:00<00:00, 59074.70it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/24 [00:00<?, ?it/s]
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'}}
+
Checking objects/objaverse:   0%|          | 0/38 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 38/38 [00:00<00:00, 32368.71it/s]
+
Extracting:   0%|          | 0/5 [00:00<?, ?it/s]
Extracting:  20%|██        | 1/5 [00:01<00:05,  1.38s/it]
Extracting:  40%|████      | 2/5 [00:02<00:04,  1.42s/it]
Extracting:  60%|██████    | 3/5 [00:03<00:02,  1.11s/it]
Extracting:  80%|████████  | 4/5 [00:04<00:01,  1.23s/it]
Extracting: 100%|██████████| 5/5 [00:06<00:00,  1.34s/it]
Extracting: 100%|██████████| 5/5 [00:06<00:00,  1.31s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/23 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 23/23 [00:00<00:00, 1640.88it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:00<00:01,  1.44it/s]
Extracting:  67%|██████▋   | 2/3 [00:01<00:00,  1.58it/s]
Extracting: 100%|██████████| 3/3 [00:01<00:00,  1.71it/s]
Extracting: 100%|██████████| 3/3 [00:01<00:00,  1.65it/s]
+[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]
+
Checking grasps/droid_objaverse:   0%|          | 0/5 [00:00<?, ?it/s]
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]
Checking objects/objaverse: 100%|██████████| 30/30 [00:00<00:00, 44352.88it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/9 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 9/9 [00:00<00:00, 42083.32it/s]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/55 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 55/55 [00:00<00:00, 45073.61it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:01<00:04,  1.59s/it]
Extracting:  50%|█████     | 2/4 [00:02<00:02,  1.37s/it]
Extracting:  75%|███████▌  | 3/4 [00:04<00:01,  1.36s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.33s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.36s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/24 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 24/24 [00:00<00:00, 3902.74it/s]
+[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]
Checking objects/objaverse: 100%|██████████| 38/38 [00:00<00:00, 42232.00it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/15 [00:00<?, ?it/s]
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'}}
+
Checking objects/objaverse:   0%|          | 0/29 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 29/29 [00:00<00:00, 37129.06it/s]
+
Extracting:   0%|          | 0/5 [00:00<?, ?it/s]
Extracting:  20%|██        | 1/5 [00:01<00:05,  1.29s/it]
Extracting:  40%|████      | 2/5 [00:02<00:03,  1.24s/it]
Extracting:  60%|██████    | 3/5 [00:03<00:02,  1.30s/it]
Extracting:  80%|████████  | 4/5 [00:05<00:01,  1.26s/it]
Extracting: 100%|██████████| 5/5 [00:06<00:00,  1.32s/it]
Extracting: 100%|██████████| 5/5 [00:06<00:00,  1.30s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/16 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 16/16 [00:00<00:00, 6581.24it/s]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/56 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 56/56 [00:00<00:00, 40792.12it/s]
+
Extracting:   0%|          | 0/7 [00:00<?, ?it/s]
Extracting:  14%|█▍        | 1/7 [00:01<00:07,  1.31s/it]
Extracting:  29%|██▊       | 2/7 [00:02<00:07,  1.48s/it]
Extracting:  43%|████▎     | 3/7 [00:03<00:04,  1.24s/it]
Extracting:  57%|█████▋    | 4/7 [00:05<00:03,  1.27s/it]
Extracting:  71%|███████▏  | 5/7 [00:06<00:02,  1.25s/it]
Extracting:  86%|████████▌ | 6/7 [00:07<00:01,  1.24s/it]
Extracting: 100%|██████████| 7/7 [00:08<00:00,  1.16s/it]
Extracting: 100%|██████████| 7/7 [00:08<00:00,  1.23s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/19 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 19/19 [00:00<00:00, 6911.09it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:00<00:01,  1.90it/s]
Extracting:  67%|██████▋   | 2/3 [00:01<00:00,  1.86it/s]
Extracting: 100%|██████████| 3/3 [00:01<00:00,  1.76it/s]
Extracting: 100%|██████████| 3/3 [00:01<00:00,  1.79it/s]
+[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]
+
Checking grasps/droid_objaverse:   0%|          | 0/5 [00:00<?, ?it/s]
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]
Checking objects/objaverse: 100%|██████████| 8/8 [00:00<00:00, 44739.24it/s]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/63 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 63/63 [00:00<00:00, 44320.89it/s]
+
Extracting:   0%|          | 0/6 [00:00<?, ?it/s]
Extracting:  17%|█▋        | 1/6 [00:01<00:05,  1.11s/it]
Extracting:  33%|███▎      | 2/6 [00:02<00:04,  1.19s/it]
Extracting:  50%|█████     | 3/6 [00:03<00:03,  1.16s/it]
Extracting:  67%|██████▋   | 4/6 [00:04<00:02,  1.17s/it]
Extracting:  83%|████████▎ | 5/6 [00:05<00:01,  1.16s/it]
Extracting: 100%|██████████| 6/6 [00:07<00:00,  1.22s/it]
Extracting: 100%|██████████| 6/6 [00:07<00:00,  1.19s/it]
+
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'}}
+
Checking objects/objaverse:   0%|          | 0/26 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 26/26 [00:00<00:00, 72652.83it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/14 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 14/14 [00:00<00:00, 71262.45it/s]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/14 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 14/14 [00:00<00:00, 24385.49it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/7 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 7/7 [00:00<00:00, 24923.71it/s]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/59 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 59/59 [00:00<00:00, 40075.13it/s]
+
Extracting:   0%|          | 0/7 [00:00<?, ?it/s]
Extracting:  14%|█▍        | 1/7 [00:01<00:07,  1.23s/it]
Extracting:  29%|██▊       | 2/7 [00:02<00:06,  1.24s/it]
Extracting:  43%|████▎     | 3/7 [00:03<00:05,  1.29s/it]
Extracting:  57%|█████▋    | 4/7 [00:05<00:04,  1.36s/it]
Extracting:  71%|███████▏  | 5/7 [00:06<00:02,  1.35s/it]
Extracting:  86%|████████▌ | 6/7 [00:08<00:01,  1.41s/it]
Extracting: 100%|██████████| 7/7 [00:09<00:00,  1.43s/it]
Extracting: 100%|██████████| 7/7 [00:09<00:00,  1.37s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/24 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 24/24 [00:00<00:00, 6904.20it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:00<00:01,  1.58it/s]
Extracting:  50%|█████     | 2/4 [00:01<00:01,  1.72it/s]
Extracting:  75%|███████▌  | 3/4 [00:01<00:00,  1.81it/s]
Extracting: 100%|██████████| 4/4 [00:02<00:00,  1.80it/s]
Extracting: 100%|██████████| 4/4 [00:02<00:00,  1.77it/s]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/32 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 32/32 [00:00<00:00, 34432.46it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:01<00:02,  1.28s/it]
Extracting:  67%|██████▋   | 2/3 [00:02<00:01,  1.34s/it]
Extracting: 100%|██████████| 3/3 [00:04<00:00,  1.41s/it]
Extracting: 100%|██████████| 3/3 [00:04<00:00,  1.39s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/13 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 13/13 [00:00<00:00, 10383.92it/s]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/32 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 32/32 [00:00<00:00, 58610.36it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/13 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 13/13 [00:00<00:00, 51978.98it/s]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/38 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 38/38 [00:00<00:00, 59162.42it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/17 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 17/17 [00:00<00:00, 47726.35it/s]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/6 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 6/6 [00:00<00:00, 14066.98it/s]
+
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'}}
+
Checking objects/objaverse:   0%|          | 0/43 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 43/43 [00:00<00:00, 48223.28it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/23 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 23/23 [00:00<00:00, 3423.68it/s]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/12 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 12/12 [00:00<00:00, 45549.00it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/7 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 7/7 [00:00<00:00, 23301.69it/s]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/35 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 35/35 [00:00<00:00, 44230.38it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:01<00:02,  1.31s/it]
Extracting:  67%|██████▋   | 2/3 [00:02<00:01,  1.40s/it]
Extracting: 100%|██████████| 3/3 [00:04<00:00,  1.50s/it]
Extracting: 100%|██████████| 3/3 [00:04<00:00,  1.46s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/15 [00:00<?, ?it/s]
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]
+
Checking grasps/droid_objaverse:   0%|          | 0/23 [00:00<?, ?it/s]
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]
+
Checking grasps/droid_objaverse:   0%|          | 0/14 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 14/14 [00:00<00:00, 13107.20it/s]
+[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'}}
+
Checking objects/objaverse:   0%|          | 0/32 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 32/32 [00:00<00:00, 56920.16it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/14 [00:00<?, ?it/s]
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'}}
+
Checking objects/objaverse:   0%|          | 0/27 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 27/27 [00:00<00:00, 44254.09it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/13 [00:00<?, ?it/s]
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'}}
+
Checking objects/objaverse:   0%|          | 0/45 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 45/45 [00:00<00:00, 38519.12it/s]
+
Extracting:   0%|          | 0/6 [00:00<?, ?it/s]
Extracting:  17%|█▋        | 1/6 [00:01<00:06,  1.26s/it]
Extracting:  33%|███▎      | 2/6 [00:02<00:05,  1.33s/it]
Extracting:  50%|█████     | 3/6 [00:03<00:03,  1.18s/it]
Extracting:  67%|██████▋   | 4/6 [00:04<00:02,  1.23s/it]
Extracting:  83%|████████▎ | 5/6 [00:06<00:01,  1.31s/it]
Extracting: 100%|██████████| 6/6 [00:07<00:00,  1.40s/it]
Extracting: 100%|██████████| 6/6 [00:07<00:00,  1.33s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/23 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 23/23 [00:00<00:00, 4876.60it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:00<00:02,  1.25it/s]
Extracting:  50%|█████     | 2/4 [00:01<00:01,  1.37it/s]
Extracting:  75%|███████▌  | 3/4 [00:02<00:00,  1.48it/s]
Extracting: 100%|██████████| 4/4 [00:02<00:00,  1.61it/s]
Extracting: 100%|██████████| 4/4 [00:02<00:00,  1.52it/s]
+[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_00/eval/eval_meta.json b/pnp_v2/pnp_v2/shards/shard_00/eval/eval_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ee75ff573ce2d98a9ff1293a55eea1667f0a0f9
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_00/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_00",
+  "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_00/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_00 --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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437",
+  "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_00/eval/results.csv"
+}
diff --git a/pnp_v2/pnp_v2/shards/shard_00/eval/results.csv b/pnp_v2/pnp_v2/shards/shard_00/eval/results.csv
new file mode 100644
index 0000000000000000000000000000000000000000..22e641ab33f84415b2199fe37f5def8682559d89
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_00/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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437
+# 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,Knife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.724389,0.0
+latest,Objabowtie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.692231,0.0
+latest,Objabrush,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.5691,0.0
+latest,Objacandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.352453,0.0
+latest,Objacandywrapper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.631757,0.0
+latest,Objaclaytablet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,45.056617,0.0
+latest,Objacollar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,66.009371,0.0
+latest,Objacorkscrew,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.287887,0.0
+latest,Objadecorativeeye,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.275027,0.0
+latest,Objadecorativefixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.469616,0.0
+latest,Objadecorativefoodmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.286161,0.0
+latest,Objadecorativetape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.866939,0.0
+latest,Objadispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.010578,0.0
+latest,Objadriedfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.151233,0.0
+latest,Objaelectronicdisplay,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.329131,0.0
+latest,Objaemergencyradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.117662,0.0
+latest,Objaeyewearframe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.770242,0.0
+latest,Objafish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.556263,0.0
+latest,Objafoodcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.109534,0.0
+latest,Objagreetingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.668925,0.0
+latest,Objahandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.331384,0.0
+latest,Objaholographicprojector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.785424,0.0
+latest,Objakylix,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,19.182657,0.0
+latest,Objaluggagetag,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.909281,0.0
+latest,Objamagnet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.803415,0.0
+latest,Objamokapot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.036885,0.0
+latest,Objaopticaldevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.831498,0.0
+latest,Objaorigamicrane,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.912745,0.0
+latest,Objascrew,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.971516,0.0
+latest,Objaseal,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,26.695577,15.362368
+latest,Objasecuritykeypad,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.622185,0.0
+latest,Objashackle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,28.244106,11.63166
+latest,Objaspraycan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.599556,0.0
+latest,Objasteamiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.606752,0.0
+latest,Objateacup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.062587,0.0
+latest,Objatelephonehandset,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.814947,0.0
+latest,Objavintagecontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.284775,0.0
+latest,Objawood,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.797823,0.0
+latest,Objawoodenrod,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.340381,0.0
+latest,Plate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.583509,0.0
+latest,OVERALL,0,42,0.0,0.06,8.22,0,0.0,0.06,8.22,33.125995,15.17651
diff --git a/pnp_v2/pnp_v2/shards/shard_00/eval/summary.json b/pnp_v2/pnp_v2/shards/shard_00/eval/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..95918a44affcf19f83b6581632ca20a859c6f440
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_00/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_00",
+  "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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437",
+  "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": 42.0,
+    "avg_episode_length": 449.0,
+    "oracle_done_rate": 0.0,
+    "success_rate_pct": 0.0,
+    "oracle_rate_pct": 0.0
+  },
+  "stats": {
+    "total_episodes": 42,
+    "success_count": 0,
+    "failure_count": 42,
+    "success_rate": 0.0,
+    "avg_episode_length": 449.0,
+    "min_episode_length": 449,
+    "max_episode_length": 449,
+    "num_houses": 37,
+    "house_success_rates": {
+      "house_3871": 0.0,
+      "house_3898": 0.0,
+      "house_3945": 0.0,
+      "house_3990": 0.0,
+      "house_4017": 0.0,
+      "house_4068": 0.0,
+      "house_4133": 0.0,
+      "house_4205": 0.0,
+      "house_4270": 0.0,
+      "house_4295": 0.0,
+      "house_4346": 0.0,
+      "house_4374": 0.0,
+      "house_4411": 0.0,
+      "house_4484": 0.0,
+      "house_4540": 0.0,
+      "house_4584": 0.0,
+      "house_4641": 0.0,
+      "house_4698": 0.0,
+      "house_4707": 0.0,
+      "house_4738": 0.0,
+      "house_4765": 0.0,
+      "house_4803": 0.0,
+      "house_4857": 0.0,
+      "house_4916": 0.0,
+      "house_4982": 0.0,
+      "house_5004": 0.0,
+      "house_5020": 0.0,
+      "house_5115": 0.0,
+      "house_5164": 0.0,
+      "house_5218": 0.0,
+      "house_5287": 0.0,
+      "house_5359": 0.0,
+      "house_5389": 0.0,
+      "house_5424": 0.0,
+      "house_5465": 0.0,
+      "house_5491": 0.0,
+      "house_5537": 0.0
+    },
+    "oracle_done_count": 0,
+    "oracle_done_rate": 0.0
+  },
+  "success_count": 0,
+  "total_count": 42,
+  "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_00/eval/results.csv",
+  "csv_overall_row": {
+    "policy": "latest",
+    "category": "OVERALL",
+    "successes": 0,
+    "total": 42,
+    "success_rate_pct": 0.0,
+    "ci_95_low_pct": 0.06,
+    "ci_95_high_pct": 8.22,
+    "oracle_successes": 0,
+    "oracle_rate_pct": 0.0,
+    "oracle_ci_95_low_pct": 0.06,
+    "oracle_ci_95_high_pct": 8.22,
+    "jerk_joint_mean": 33.125995,
+    "jerk_joint_std": 15.17651
+  },
+  "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_00/submission/episode_results.jsonl b/pnp_v2/pnp_v2/shards/shard_00/submission/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..04d80f35c5e8926c229d3a8e8d8288f387f37832
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_00/submission/episode_results.jsonl
@@ -0,0 +1,42 @@
+{"house_id": "house_3871", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the stockfish and place it in or on the brown wooden leaf tray", "object_name": "objadriedfish_00fbc8e52f834ba78b25ffb6962b98e8_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3871/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3871", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact green radio and place it in or on the gray bowl", "object_name": "objaemergencyradio_875d6d844ced424bb9eaa5659ef888ac_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3871/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3898", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal hex screw and place it in or on the shallow round bowl with feet", "object_name": "objascrew_477a7178be2b4f709bb4fe2d724f47cf_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3898/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3945", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular gold ornate openwork ornament and place it in or on the teal box with heart", "object_name": "objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3945/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3990", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the instrumentation and place it in or on the rusty metal tray with meat", "object_name": "objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3990/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4017", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige taco filled with toppings and place it in or on the gray bowl", "object_name": "objadecorativefoodmodel_9c9d11d317814c2085da004146c4917c_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4017/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4068", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the curved sleek modern handset and place it in or on the sculptural bowl with earthy texture", "object_name": "objatelephonehandset_0ddfdf35baa6475d9ba001a570eaeebd_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4068/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4133", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue birthday card with fox and rabbit and place it in or on the round handmade rustic earthy bowl", "object_name": "objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4133/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4205", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teacup and place it in or on the ceramic bowl filled with rice and peas", "object_name": "objateacup_ccc2c0af285d479b8c5961d3c678aefc_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4205/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4270", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the olive scalloped ceramic plate and place it in or on the round metallic bowl with patina", "object_name": "plate_ac19ca22ae10d8179cdc8dc68e02072d_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4270/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4295", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark gray metal shackle with orange pin and place it in or on the red clay bowl with zigzag pattern", "object_name": "objashackle_f04582e626ee4b09b5b870a2730d12b7_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4295/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4295", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the keypad and place it in or on the gray rough textured bowl", "object_name": "objasecuritykeypad_e3e26581572f467d84958a12d6305aae_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4295/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4346", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth cylindrical wooden rod and place it in or on the patchwork ceramic bowl rustic", "object_name": "objawoodenrod_93e71d2e393c4992a3bf47eb1fc7e3f7_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4346/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4374", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple candy wrapper with lighthouse design and place it in or on the blue bowl", "object_name": "objacandywrapper_4a0fdf73d0474d778fd65ba220f50a71_2_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4374/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4411", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular wooden luggage tag with engraving and place it in or on the smooth silver bowl", "object_name": "objaluggagetag_8564a22483104f8aac76a02c12db952a_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4411/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4484", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the irregular charred wooden fragment and place it in or on the patchwork ceramic bowl rustic", "object_name": "objawood_ae78ba7e73fc4c47a99f4cde24adc46f_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4484/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4540", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small beige clay tablet with engravings and place it in or on the ceramic bowl", "object_name": "objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_2_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4540/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4584", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal container with label and place it in or on the rustic round clay dish with handles", "object_name": "objavintagecontainer_1681199327f545f6bebc94b7408769ed_2_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4584/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4641", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ancient greek kylix with artwork and place it in or on the stone bowl with crystals", "object_name": "objakylix_d9cc347595664f83bc1461c857756452_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4641/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4698", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek glossy curved plastic eyeglass frame and place it in or on the teal bowl", "object_name": "objaeyewearframe_a4b712ccca9740d4970a09a54731d812_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4698/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4707", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bronze seal and place it in or on the leaf-shaped gray dish", "object_name": "objaseal_9d5e1792205e4d908035feb229b6d375_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4707/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4707", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow knife and place it in or on the rectangular vintage metal storage tin", "object_name": "knife_8409451f726b7f0640a91ddd7ae630cf_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4707/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4738", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the folded origami paper crane and place it in or on the round gray ceramic bowl", "object_name": "objaorigamicrane_1455ff78988c49d380161281102ee908_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4738/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4765", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cylindrical tape with zigzag pattern and place it in or on the shallow beige ceramic bowl with cracks", "object_name": "objadecorativetape_a6bece29c668474c8a01a368941f0e9a_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4765/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4803", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glass eye and place it in or on the rectangular platform with recessed center", "object_name": "objadecorativeeye_9d390baaeec94960808345f88af56997_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4803/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4857", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the steam iron and place it in or on the textured ceramic bowl with colors", "object_name": "objasteamiron_7dc6eeb22d424534b45783fbe997b302_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4857/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4916", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray rectangular dispenser and place it in or on the teal bowl with matte interior", "object_name": "objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4916/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4982", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wing screw and place it in or on the smooth gray ceramic bowl for food", "object_name": "objahandle_a168ec0564fb4a1e98caadee6866be28_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4982/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5004", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black leather collar with spikes and place it in or on the round gray bowl", "object_name": "objacollar_5f329a75ab1a4890868ba37061ca3396_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5004/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5004", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink stylized fish with white spot and place it in or on the light gray shallow round bowl", "object_name": "objafish_a7e1f30e664a4db18ecea3c6ffb0a90c_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5004/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5020", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray shackle with orange pin and place it in or on the tan decorative bowl", "object_name": "objashackle_d956a23797094d87aa85c1a139c15d68_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5020/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5115", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the olive-green spray can and place it in or on the rustic round ceramic bowl", "object_name": "objaspraycan_e9c031fbf1bd451998676923027e296a_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5115/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5164", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the moka pot and place it in or on the blue pot", "object_name": "objamokapot_eb0d9a02bb39465e95d82e84dd86a654_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5164/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5218", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the partially burned white candle and place it in or on the glossy brown ceramic bowl with swirls", "object_name": "objacandle_d6c8730447ce4ddfb6c5b72609216476_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5218/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5287", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange brush and place it in or on the irregular shaped reddish clay bowl", "object_name": "objabrush_f8f0d72e40d24bf8afa4b0157cbcb7c7_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5287/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5359", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden corkscrew and place it in or on the round small beige bowl", "object_name": "objacorkscrew_63c8864e17844947b75f6cd32d8e5224_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5359/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5389", "episode_idx": 0, "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 shallow 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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5389/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5389", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hexagonal metallic light projector and place it in or on the shallow rustic brown coconut bowl", "object_name": "objaholographicprojector_137582d0c2774eaaad2400a9f9944df4_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5389/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5424", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the oval bronze seal with engraved figure and place it in or on the rustic ceramic bowl with earthy tones", "object_name": "objaseal_9d5e1792205e4d908035feb229b6d375_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5424/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5465", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red polka dot bowtie and place it in or on the green bowl", "object_name": "objabowtie_a3f9109d67fe429aa527428dcdac1c6e_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5465/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5491", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the worn turquoise can and place it in or on the blue pot", "object_name": "objafoodcan_7f5083c31b074cc3a08bf2bd4ef16591_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5491/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5537", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy u-shaped blue and red magnet and place it in or on the round gray bowl", "object_name": "objamagnet_203d2234abaf4e33851d2ab311015da7_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5537/trajectories_batch_1_of_1.h5", "metadata": {}}
diff --git a/pnp_v2/pnp_v2/shards/shard_00/submission/eval_meta.json b/pnp_v2/pnp_v2/shards/shard_00/submission/eval_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ee75ff573ce2d98a9ff1293a55eea1667f0a0f9
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_00/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_00",
+  "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_00/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_00 --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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437",
+  "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_00/eval/results.csv"
+}
diff --git a/pnp_v2/pnp_v2/shards/shard_00/submission/results.csv b/pnp_v2/pnp_v2/shards/shard_00/submission/results.csv
new file mode 100644
index 0000000000000000000000000000000000000000..22e641ab33f84415b2199fe37f5def8682559d89
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_00/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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437
+# 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,Knife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.724389,0.0
+latest,Objabowtie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.692231,0.0
+latest,Objabrush,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.5691,0.0
+latest,Objacandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.352453,0.0
+latest,Objacandywrapper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.631757,0.0
+latest,Objaclaytablet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,45.056617,0.0
+latest,Objacollar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,66.009371,0.0
+latest,Objacorkscrew,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.287887,0.0
+latest,Objadecorativeeye,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.275027,0.0
+latest,Objadecorativefixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.469616,0.0
+latest,Objadecorativefoodmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.286161,0.0
+latest,Objadecorativetape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.866939,0.0
+latest,Objadispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.010578,0.0
+latest,Objadriedfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.151233,0.0
+latest,Objaelectronicdisplay,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.329131,0.0
+latest,Objaemergencyradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.117662,0.0
+latest,Objaeyewearframe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.770242,0.0
+latest,Objafish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.556263,0.0
+latest,Objafoodcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.109534,0.0
+latest,Objagreetingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.668925,0.0
+latest,Objahandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.331384,0.0
+latest,Objaholographicprojector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.785424,0.0
+latest,Objakylix,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,19.182657,0.0
+latest,Objaluggagetag,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.909281,0.0
+latest,Objamagnet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.803415,0.0
+latest,Objamokapot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.036885,0.0
+latest,Objaopticaldevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.831498,0.0
+latest,Objaorigamicrane,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.912745,0.0
+latest,Objascrew,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.971516,0.0
+latest,Objaseal,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,26.695577,15.362368
+latest,Objasecuritykeypad,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.622185,0.0
+latest,Objashackle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,28.244106,11.63166
+latest,Objaspraycan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.599556,0.0
+latest,Objasteamiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.606752,0.0
+latest,Objateacup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.062587,0.0
+latest,Objatelephonehandset,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.814947,0.0
+latest,Objavintagecontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.284775,0.0
+latest,Objawood,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.797823,0.0
+latest,Objawoodenrod,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.340381,0.0
+latest,Plate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.583509,0.0
+latest,OVERALL,0,42,0.0,0.06,8.22,0,0.0,0.06,8.22,33.125995,15.17651
diff --git a/pnp_v2/pnp_v2/shards/shard_00/submission/run_command.sh b/pnp_v2/pnp_v2/shards/shard_00/submission/run_command.sh
new file mode 100644
index 0000000000000000000000000000000000000000..c5659c3a3458656e3cd8c02317db41c99e6614de
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_00/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_00/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_00 --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_00/submission/shard_00_results.csv b/pnp_v2/pnp_v2/shards/shard_00/submission/shard_00_results.csv
new file mode 100644
index 0000000000000000000000000000000000000000..22e641ab33f84415b2199fe37f5def8682559d89
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_00/submission/shard_00_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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437
+# 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,Knife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.724389,0.0
+latest,Objabowtie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.692231,0.0
+latest,Objabrush,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.5691,0.0
+latest,Objacandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.352453,0.0
+latest,Objacandywrapper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.631757,0.0
+latest,Objaclaytablet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,45.056617,0.0
+latest,Objacollar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,66.009371,0.0
+latest,Objacorkscrew,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.287887,0.0
+latest,Objadecorativeeye,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.275027,0.0
+latest,Objadecorativefixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.469616,0.0
+latest,Objadecorativefoodmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.286161,0.0
+latest,Objadecorativetape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.866939,0.0
+latest,Objadispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.010578,0.0
+latest,Objadriedfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.151233,0.0
+latest,Objaelectronicdisplay,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.329131,0.0
+latest,Objaemergencyradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.117662,0.0
+latest,Objaeyewearframe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.770242,0.0
+latest,Objafish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.556263,0.0
+latest,Objafoodcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.109534,0.0
+latest,Objagreetingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.668925,0.0
+latest,Objahandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.331384,0.0
+latest,Objaholographicprojector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.785424,0.0
+latest,Objakylix,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,19.182657,0.0
+latest,Objaluggagetag,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.909281,0.0
+latest,Objamagnet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.803415,0.0
+latest,Objamokapot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.036885,0.0
+latest,Objaopticaldevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.831498,0.0
+latest,Objaorigamicrane,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.912745,0.0
+latest,Objascrew,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.971516,0.0
+latest,Objaseal,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,26.695577,15.362368
+latest,Objasecuritykeypad,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.622185,0.0
+latest,Objashackle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,28.244106,11.63166
+latest,Objaspraycan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.599556,0.0
+latest,Objasteamiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.606752,0.0
+latest,Objateacup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.062587,0.0
+latest,Objatelephonehandset,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.814947,0.0
+latest,Objavintagecontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.284775,0.0
+latest,Objawood,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.797823,0.0
+latest,Objawoodenrod,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.340381,0.0
+latest,Plate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.583509,0.0
+latest,OVERALL,0,42,0.0,0.06,8.22,0,0.0,0.06,8.22,33.125995,15.17651
diff --git a/pnp_v2/pnp_v2/shards/shard_00/submission/submission_manifest.json b/pnp_v2/pnp_v2/shards/shard_00/submission/submission_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..e76528b1008c2fbcef02c5c6e3a914c15a484fab
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_00/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_00",
+  "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": 42.0,
+    "avg_episode_length": 449.0,
+    "oracle_done_rate": 0.0,
+    "success_rate_pct": 0.0,
+    "oracle_rate_pct": 0.0
+  },
+  "stats": {
+    "total_episodes": 42,
+    "success_count": 0,
+    "failure_count": 42,
+    "success_rate": 0.0,
+    "avg_episode_length": 449.0,
+    "min_episode_length": 449,
+    "max_episode_length": 449,
+    "num_houses": 37,
+    "house_success_rates": {
+      "house_3871": 0.0,
+      "house_3898": 0.0,
+      "house_3945": 0.0,
+      "house_3990": 0.0,
+      "house_4017": 0.0,
+      "house_4068": 0.0,
+      "house_4133": 0.0,
+      "house_4205": 0.0,
+      "house_4270": 0.0,
+      "house_4295": 0.0,
+      "house_4346": 0.0,
+      "house_4374": 0.0,
+      "house_4411": 0.0,
+      "house_4484": 0.0,
+      "house_4540": 0.0,
+      "house_4584": 0.0,
+      "house_4641": 0.0,
+      "house_4698": 0.0,
+      "house_4707": 0.0,
+      "house_4738": 0.0,
+      "house_4765": 0.0,
+      "house_4803": 0.0,
+      "house_4857": 0.0,
+      "house_4916": 0.0,
+      "house_4982": 0.0,
+      "house_5004": 0.0,
+      "house_5020": 0.0,
+      "house_5115": 0.0,
+      "house_5164": 0.0,
+      "house_5218": 0.0,
+      "house_5287": 0.0,
+      "house_5359": 0.0,
+      "house_5389": 0.0,
+      "house_5424": 0.0,
+      "house_5465": 0.0,
+      "house_5491": 0.0,
+      "house_5537": 0.0
+    },
+    "oracle_done_count": 0,
+    "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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437",
+  "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_00/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_00/submission/summary.json b/pnp_v2/pnp_v2/shards/shard_00/submission/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..95918a44affcf19f83b6581632ca20a859c6f440
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_00/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_00",
+  "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_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437",
+  "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": 42.0,
+    "avg_episode_length": 449.0,
+    "oracle_done_rate": 0.0,
+    "success_rate_pct": 0.0,
+    "oracle_rate_pct": 0.0
+  },
+  "stats": {
+    "total_episodes": 42,
+    "success_count": 0,
+    "failure_count": 42,
+    "success_rate": 0.0,
+    "avg_episode_length": 449.0,
+    "min_episode_length": 449,
+    "max_episode_length": 449,
+    "num_houses": 37,
+    "house_success_rates": {
+      "house_3871": 0.0,
+      "house_3898": 0.0,
+      "house_3945": 0.0,
+      "house_3990": 0.0,
+      "house_4017": 0.0,
+      "house_4068": 0.0,
+      "house_4133": 0.0,
+      "house_4205": 0.0,
+      "house_4270": 0.0,
+      "house_4295": 0.0,
+      "house_4346": 0.0,
+      "house_4374": 0.0,
+      "house_4411": 0.0,
+      "house_4484": 0.0,
+      "house_4540": 0.0,
+      "house_4584": 0.0,
+      "house_4641": 0.0,
+      "house_4698": 0.0,
+      "house_4707": 0.0,
+      "house_4738": 0.0,
+      "house_4765": 0.0,
+      "house_4803": 0.0,
+      "house_4857": 0.0,
+      "house_4916": 0.0,
+      "house_4982": 0.0,
+      "house_5004": 0.0,
+      "house_5020": 0.0,
+      "house_5115": 0.0,
+      "house_5164": 0.0,
+      "house_5218": 0.0,
+      "house_5287": 0.0,
+      "house_5359": 0.0,
+      "house_5389": 0.0,
+      "house_5424": 0.0,
+      "house_5465": 0.0,
+      "house_5491": 0.0,
+      "house_5537": 0.0
+    },
+    "oracle_done_count": 0,
+    "oracle_done_rate": 0.0
+  },
+  "success_count": 0,
+  "total_count": 42,
+  "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_00/eval/results.csv",
+  "csv_overall_row": {
+    "policy": "latest",
+    "category": "OVERALL",
+    "successes": 0,
+    "total": 42,
+    "success_rate_pct": 0.0,
+    "ci_95_low_pct": 0.06,
+    "ci_95_high_pct": 8.22,
+    "oracle_successes": 0,
+    "oracle_rate_pct": 0.0,
+    "oracle_ci_95_low_pct": 0.06,
+    "oracle_ci_95_high_pct": 8.22,
+    "jerk_joint_mean": 33.125995,
+    "jerk_joint_std": 15.17651
+  },
+  "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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log b/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log
new file mode 100644
index 0000000000000000000000000000000000000000..7d1cb0d78ee80b2adbeae06c5d02d38bae3daac4
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log
@@ -0,0 +1,2780 @@
+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 111 houses with 2 episodes each (222 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_01'),
+ '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_01/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': [165,
+                                        193,
+                                        256,
+                                        295,
+                                        344,
+                                        398,
+                                        462,
+                                        504,
+                                        529,
+                                        1001,
+                                        1035,
+                                        1081,
+                                        1119,
+                                        1179,
+                                        1222,
+                                        1227,
+                                        1311,
+                                        1365,
+                                        1451,
+                                        1490,
+                                        1525,
+                                        1556,
+                                        1606,
+                                        1634,
+                                        1677,
+                                        1739,
+                                        1783,
+                                        1836,
+                                        1845,
+                                        1877,
+                                        1937,
+                                        1983,
+                                        2063,
+                                        2118,
+                                        2150,
+                                        2174,
+                                        2205,
+                                        2245,
+                                        2302,
+                                        2332,
+                                        2379,
+                                        2414,
+                                        2462,
+                                        2474,
+                                        2519,
+                                        2548,
+                                        2610,
+                                        2619,
+                                        2643,
+                                        2715,
+                                        2770,
+                                        2800,
+                                        2861,
+                                        2936,
+                                        3000,
+                                        3006,
+                                        3077,
+                                        3133,
+                                        3210,
+                                        3273,
+                                        3305,
+                                        3324,
+                                        3363,
+                                        3430,
+                                        3473,
+                                        3510,
+                                        3514,
+                                        3545,
+                                        3595,
+                                        3640,
+                                        3672,
+                                        3754,
+                                        3788,
+                                        3846,
+                                        3899,
+                                        3934,
+                                        3947,
+                                        3991,
+                                        4021,
+                                        4079,
+                                        4144,
+                                        4213,
+                                        4289,
+                                        4303,
+                                        4347,
+                                        4382,
+                                        4423,
+                                        4493,
+                                        4545,
+                                        4600,
+                                        4644,
+                                        4702,
+                                        4727,
+                                        4742,
+                                        4773,
+                                        4807,
+                                        4860,
+                                        4933,
+                                        4983,
+                                        5023,
+                                        5048,
+                                        5116,
+                                        5165,
+                                        5219,
+                                        5291,
+                                        5361,
+                                        5390,
+                                        5428,
+                                        5473,
+                                        5495,
+                                        5540],
+                         '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 165 (index 0/111)	[pipeline.py: 473]
+05/25 10:25:33 INFO: [Worker 0] Loaded 1 episodes for house 165 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_01	[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_0/56dccb62700a4c04b42646e060c087f5	[json_eval_task_sampler.py: 648]
+05/25 10:25:49 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_7	[json_eval_task_sampler.py: 648]
+05/25 10:25:49 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0e668fe03f564822ac2c97212f8b420a	[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 10:25:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_165_ceiling.xml	[task_sampler.py: 797]
+05/25 10:25:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=165, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 10:25:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 10:25:55 INFO: [Worker 0] randomize_scene: Setting poses for 97 objects	[json_eval_task_sampler.py: 686]
+05/25 10:25:55 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 10:25:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 10:25:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 10:25:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 10:25:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 10:25:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 10:25:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 10:25:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 10:25:55 INFO: [Worker 0] Sampled task 'Pick up the gold rectangular buckle and place it in or on the glossy translucent light blue bowl'	[task_sampler.py: 1136]
+05/25 10:25:55 INFO: [Worker 0] Worker 0 house 165 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 10:25:55 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 10:25:55 WARNING: [Worker 0] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_5 in scene	[object_manager.py: 1238]
+05/25 10:27:14 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 10:33:50 INFO: [Worker 0] Worker 0 house 165 episode 0 object objabeltbuckle_59752114f2f8430b8974ae40532fc048_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 10:33:56 INFO: [Worker 0] Batching and saving trajectory data for house_165: 1 episodes	[pipeline.py: 233]
+05/25 10:33:56 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 10:34:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 10:34:00 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_165	[save_utils.py: 703]
+05/25 10:34:00 INFO: [Worker 0] Successfully saved trajectory data for house_165 in 4.40s (batch: 4.21s, save: 0.19s)	[pipeline.py: 280]
+05/25 10:34:01 WARNING: [Worker 0] No trajectory data to save for house_165	[pipeline.py: 229]
+05/25 10:34:01 INFO: [Worker 0] Worker 0 completed house 165: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 10:34:01 INFO: [Worker 0] Worker 0 starting house 193 (index 1/111)	[pipeline.py: 473]
+05/25 10:34:01 INFO: [Worker 0] Loaded 2 episodes for house 193 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_01	[json_eval_runner.py: 278]
+05/25 10:34:01 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 10:34:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9605b2b278774b5bb4e486695e6d920a	[json_eval_task_sampler.py: 648]
+05/25 10:34:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/cbb67bbbe42e42189931574ce0d4926d	[json_eval_task_sampler.py: 648]
+05/25 10:34:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_11	[json_eval_task_sampler.py: 648]
+05/25 10:34:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_193_ceiling.xml	[task_sampler.py: 797]
+05/25 10:34:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=193, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 10:34:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 10:34:13 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects	[json_eval_task_sampler.py: 686]
+05/25 10:34:13 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 10:34:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 10:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 10:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 10:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 10:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 10:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 10:34:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 10:34:13 INFO: [Worker 0] Sampled task 'Pick up the black zigzag crown with green gemstone and place it in or on the white bowl'	[task_sampler.py: 1136]
+05/25 10:34:13 INFO: [Worker 0] Worker 0 house 193 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 10:34:13 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 10:43:21 INFO: [Worker 0] Worker 0 house 193 episode 0 object objadecorativecrown_c5a38852c7484fb1aeeae0aea2509415_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 10:43:25 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 10:43:29 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9605b2b278774b5bb4e486695e6d920a	[json_eval_task_sampler.py: 648]
+05/25 10:43:29 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/cbb67bbbe42e42189931574ce0d4926d	[json_eval_task_sampler.py: 648]
+05/25 10:43:29 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_11	[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_193_ceiling.xml	[task_sampler.py: 797]
+05/25 10:43:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=193, 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 78 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 10:43:35 INFO: [Worker 0] Sampled task 'Pick up the purple grapes with green stem and place it in or on the gray leaf dish'	[task_sampler.py: 1136]
+05/25 10:43:35 INFO: [Worker 0] Worker 0 house 193 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 10:43:35 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 10:52:54 INFO: [Worker 0] Worker 0 house 193 episode 1 object objadecorativefruit_55c815ee24724611a0b58dd59cd482cb_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 10:53:01 INFO: [Worker 0] Batching and saving trajectory data for house_193: 2 episodes	[pipeline.py: 233]
+05/25 10:53:01 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 10:53:07 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 10:53:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 10:53:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 10:53:12 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_193	[save_utils.py: 703]
+05/25 10:53:12 INFO: [Worker 0] Successfully saved trajectory data for house_193 in 10.62s (batch: 10.03s, save: 0.59s)	[pipeline.py: 280]
+05/25 10:53:13 WARNING: [Worker 0] No trajectory data to save for house_193	[pipeline.py: 229]
+05/25 10:53:13 INFO: [Worker 0] Worker 0 completed house 193: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 10:53:13 INFO: [Worker 0] Worker 0 starting house 256 (index 2/111)	[pipeline.py: 473]
+05/25 10:53:13 INFO: [Worker 0] Loaded 1 episodes for house 256 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_01	[json_eval_runner.py: 278]
+05/25 10:53:13 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 10:53:16 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_1	[json_eval_task_sampler.py: 648]
+05/25 10:53:16 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_20	[json_eval_task_sampler.py: 648]
+05/25 10:53:16 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a37c32fbdbbb4ab19c8b1cccc557f52d	[json_eval_task_sampler.py: 648]
+05/25 10:53:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_256_ceiling.xml	[task_sampler.py: 797]
+05/25 10:53:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=256, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 10:53:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 10:53:21 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects	[json_eval_task_sampler.py: 686]
+05/25 10:53:21 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 10:53:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 10:53:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 10:53:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 10:53:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 10:53:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 10:53:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 10:53:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 10:53:21 INFO: [Worker 0] Sampled task 'Pick up the miniature tower and place it in or on the metallic tray'	[task_sampler.py: 1136]
+05/25 10:53:21 INFO: [Worker 0] Worker 0 house 256 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 10:53:21 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 10:53:22 WARNING: [Worker 0] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 in scene	[object_manager.py: 1238]
+05/25 10:53:22 WARNING: [Worker 0] Could not find object atomizer_6f646752c976a94a62a6979581d2556d_1_0_5 in scene	[object_manager.py: 1238]
+05/25 10:53:24 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 10:59:53 INFO: [Worker 0] Worker 0 house 256 episode 0 object objaminiaturetower_0780a7e5369442c3967681084a046588_3_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 10:59:59 INFO: [Worker 0] Batching and saving trajectory data for house_256: 1 episodes	[pipeline.py: 233]
+05/25 10:59:59 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:00:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:00:02 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_256	[save_utils.py: 703]
+05/25 11:00:02 INFO: [Worker 0] Successfully saved trajectory data for house_256 in 3.43s (batch: 3.26s, save: 0.17s)	[pipeline.py: 280]
+05/25 11:00:03 WARNING: [Worker 0] No trajectory data to save for house_256	[pipeline.py: 229]
+05/25 11:00:03 INFO: [Worker 0] Worker 0 completed house 256: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:00:03 INFO: [Worker 0] Worker 0 starting house 295 (index 3/111)	[pipeline.py: 473]
+05/25 11:00:03 INFO: [Worker 0] Loaded 1 episodes for house 295 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_01	[json_eval_runner.py: 278]
+05/25 11:00:03 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 11:00:06 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/93ef7da87b1e43fbb47f3b26b927f777	[json_eval_task_sampler.py: 648]
+05/25 11:00:06 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/589cc33e26134e808392ac3e956ba868	[json_eval_task_sampler.py: 648]
+05/25 11:00:06 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2b66d433fad7419d994eb2b098293577	[json_eval_task_sampler.py: 648]
+05/25 11:00:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_295_ceiling.xml	[task_sampler.py: 797]
+05/25 11:00:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=295, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:00:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:00:12 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects	[json_eval_task_sampler.py: 686]
+05/25 11:00:12 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:00:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:00:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:00:12 INFO: [Worker 0] Sampled task 'Pick up the small matryoshka doll with flowers and place it in or on the round black and gray ashtray with notches'	[task_sampler.py: 1136]
+05/25 11:00:12 INFO: [Worker 0] Worker 0 house 295 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:00:12 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:00:12 WARNING: [Worker 0] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_2_0_7 in scene	[object_manager.py: 1238]
+05/25 11:00:12 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_7 in scene	[object_manager.py: 1238]
+05/25 11:05:56 INFO: [Worker 0] Worker 0 house 295 episode 0 object objamatryoshkadoll_6eaa5410b7974799bde979490ddb7453_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 11:06:01 INFO: [Worker 0] Batching and saving trajectory data for house_295: 1 episodes	[pipeline.py: 233]
+05/25 11:06:01 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:06:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:06:05 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_295	[save_utils.py: 703]
+05/25 11:06:05 INFO: [Worker 0] Successfully saved trajectory data for house_295 in 3.83s (batch: 3.65s, save: 0.18s)	[pipeline.py: 280]
+05/25 11:06:06 WARNING: [Worker 0] No trajectory data to save for house_295	[pipeline.py: 229]
+05/25 11:06:06 INFO: [Worker 0] Worker 0 completed house 295: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:06:06 INFO: [Worker 0] Worker 0 starting house 344 (index 4/111)	[pipeline.py: 473]
+05/25 11:06:06 INFO: [Worker 0] Loaded 1 episodes for house 344 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_01	[json_eval_runner.py: 278]
+05/25 11:06:06 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 11:06:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/fe6a6e9cf17545179f8c6b81e5499b46	[json_eval_task_sampler.py: 648]
+05/25 11:06:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c44ac768e7304df58ebf13ba4c6eed11	[json_eval_task_sampler.py: 648]
+05/25 11:06:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7b3bfdab414148a08cbf46fc105e280a	[json_eval_task_sampler.py: 648]
+05/25 11:06:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_344_ceiling.xml	[task_sampler.py: 797]
+05/25 11:06:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=344, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:06:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:06:19 INFO: [Worker 0] randomize_scene: Setting poses for 87 objects	[json_eval_task_sampler.py: 686]
+05/25 11:06:19 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:06:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:06:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:06:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:06:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:06:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:06:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:06:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:06:19 INFO: [Worker 0] Sampled task 'Pick up the detailed brown moth and place it in or on the rough gray bowl'	[task_sampler.py: 1136]
+05/25 11:06:19 INFO: [Worker 0] Worker 0 house 344 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:06:19 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:06:20 WARNING: [Worker 0] Could not find object objasolderingiron_fb480380d29144e7a2a6437208d10d72_1_0_2 in scene	[object_manager.py: 1238]
+05/25 11:06:20 WARNING: [Worker 0] Could not find object cup_76578ead9f14d0b2b3be33d684f6a9e0_1_0_2 in scene	[object_manager.py: 1238]
+05/25 11:06:20 WARNING: [Worker 0] Could not find object objafabric_54726e66ca314b0d84cd7d222928f483_1_0_9 in scene	[object_manager.py: 1238]
+05/25 11:06:20 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_9 in scene	[object_manager.py: 1238]
+05/25 11:19:43 INFO: [Worker 0] Worker 0 house 344 episode 0 object objamoth_c776c4a1d0a447388a8808dab3817af9_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 11:19:48 INFO: [Worker 0] Batching and saving trajectory data for house_344: 1 episodes	[pipeline.py: 233]
+05/25 11:19:48 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:19:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:19:52 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_344	[save_utils.py: 703]
+05/25 11:19:52 INFO: [Worker 0] Successfully saved trajectory data for house_344 in 3.65s (batch: 3.45s, save: 0.20s)	[pipeline.py: 280]
+05/25 11:19:53 WARNING: [Worker 0] No trajectory data to save for house_344	[pipeline.py: 229]
+05/25 11:19:53 INFO: [Worker 0] Worker 0 completed house 344: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:19:53 INFO: [Worker 0] Worker 0 starting house 398 (index 5/111)	[pipeline.py: 473]
+05/25 11:19:53 INFO: [Worker 0] Loaded 1 episodes for house 398 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_01	[json_eval_runner.py: 278]
+05/25 11:19:53 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 11:19:55 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1df7263c6e094645987c61c5d60e67d5	[json_eval_task_sampler.py: 648]
+05/25 11:19:55 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/15607bdf52a64f81a7555de4cfad4029	[json_eval_task_sampler.py: 648]
+05/25 11:19:55 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/f486de07c6f347588bcd3d22456f328d	[json_eval_task_sampler.py: 648]
+05/25 11:19:55 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 11:19:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_398_ceiling.xml	[task_sampler.py: 797]
+05/25 11:19:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=398, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:19:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:19:59 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects	[json_eval_task_sampler.py: 686]
+05/25 11:19:59 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:19:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:19:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:19:59 INFO: [Worker 0] Sampled task 'Pick up the purple spray bottle with white nozzle and place it in or on the white tray with compartments'	[task_sampler.py: 1136]
+05/25 11:19:59 INFO: [Worker 0] Worker 0 house 398 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:19:59 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:20:00 WARNING: [Worker 0] Could not find object objadecorativespike_66751212187f42ffad9f30155661f790_1_0_2 in scene	[object_manager.py: 1238]
+05/25 11:20:00 WARNING: [Worker 0] Could not find object plate_ad540817fe2632d8b49916da70118c0a_1_0_2 in scene	[object_manager.py: 1238]
+05/25 11:20:00 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene	[object_manager.py: 1238]
+05/25 11:26:20 INFO: [Worker 0] Worker 0 house 398 episode 0 object atomizer_973bce9435d852757b03afc168e4c1df_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 11:26:26 INFO: [Worker 0] Batching and saving trajectory data for house_398: 1 episodes	[pipeline.py: 233]
+05/25 11:26:26 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:26:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:26:31 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_398	[save_utils.py: 703]
+05/25 11:26:31 INFO: [Worker 0] Successfully saved trajectory data for house_398 in 5.09s (batch: 4.85s, save: 0.24s)	[pipeline.py: 280]
+05/25 11:26:32 WARNING: [Worker 0] No trajectory data to save for house_398	[pipeline.py: 229]
+05/25 11:26:32 INFO: [Worker 0] Worker 0 completed house 398: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:26:32 INFO: [Worker 0] Worker 0 starting house 462 (index 6/111)	[pipeline.py: 473]
+05/25 11:26:32 INFO: [Worker 0] Loaded 1 episodes for house 462 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_01	[json_eval_runner.py: 278]
+05/25 11:26:32 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 11:26:37 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/af838119a5a14e6ea3cc7e6cb53e2bd8	[json_eval_task_sampler.py: 648]
+05/25 11:26:37 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/54c702aeeb634157ab6bfd6c2f7a78c2	[json_eval_task_sampler.py: 648]
+05/25 11:26:37 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4e33154ce3a40e4bd2b34f8de4f548c	[json_eval_task_sampler.py: 648]
+05/25 11:26:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_462_ceiling.xml	[task_sampler.py: 797]
+05/25 11:26:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=462, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:26:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:26:43 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects	[json_eval_task_sampler.py: 686]
+05/25 11:26:44 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:26:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:26:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:26:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:26:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:26:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:26:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:26:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:26:44 INFO: [Worker 0] Sampled task 'Pick up the pink puzzle piece with numbers and braille and place it in or on the creamy ceramic bowl'	[task_sampler.py: 1136]
+05/25 11:26:44 INFO: [Worker 0] Worker 0 house 462 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:26:44 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:38:48 INFO: [Worker 0] Worker 0 house 462 episode 0 object objapuzzlepiece_1cf1d2bda5a446bd92617b2989f7f408_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 11:38:54 INFO: [Worker 0] Batching and saving trajectory data for house_462: 1 episodes	[pipeline.py: 233]
+05/25 11:38:54 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:38:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:38:59 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_462	[save_utils.py: 703]
+05/25 11:38:59 INFO: [Worker 0] Successfully saved trajectory data for house_462 in 5.39s (batch: 5.17s, save: 0.22s)	[pipeline.py: 280]
+05/25 11:39:01 WARNING: [Worker 0] No trajectory data to save for house_462	[pipeline.py: 229]
+05/25 11:39:01 INFO: [Worker 0] Worker 0 completed house 462: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:39:01 INFO: [Worker 0] Worker 0 starting house 504 (index 7/111)	[pipeline.py: 473]
+05/25 11:39:01 INFO: [Worker 0] Loaded 1 episodes for house 504 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_01	[json_eval_runner.py: 278]
+05/25 11:39:01 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 11:39:06 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0cb14e8a04de4c39ac8714a98fba9883	[json_eval_task_sampler.py: 648]
+05/25 11:39:06 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_7	[json_eval_task_sampler.py: 648]
+05/25 11:39:06 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e9670b35612840bd92354dd8936d3c6a	[json_eval_task_sampler.py: 648]
+05/25 11:39:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_504_ceiling.xml	[task_sampler.py: 797]
+05/25 11:39:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=504, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:39:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:39:15 INFO: [Worker 0] randomize_scene: Setting poses for 90 objects	[json_eval_task_sampler.py: 686]
+05/25 11:39:15 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:39:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:39:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:39:16 INFO: [Worker 0] Sampled task 'Pick up the red textured glove with mini logo and place it in or on the dark gray ceramic shallow bowl'	[task_sampler.py: 1136]
+05/25 11:39:16 INFO: [Worker 0] Worker 0 house 504 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:39:16 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:39:17 WARNING: [Worker 0] Could not find object objamarker_ca610e52ec5440f0a988e75040f08ab9_1_0_5 in scene	[object_manager.py: 1238]
+05/25 11:39:20 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 11:47:58 INFO: [Worker 0] Worker 0 house 504 episode 0 object objaglove_3f33f2ea4615456f9ef658a9ad432f6b_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 11:48:02 INFO: [Worker 0] Batching and saving trajectory data for house_504: 1 episodes	[pipeline.py: 233]
+05/25 11:48:02 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:48:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:48:05 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_504	[save_utils.py: 703]
+05/25 11:48:05 INFO: [Worker 0] Successfully saved trajectory data for house_504 in 3.21s (batch: 3.07s, save: 0.15s)	[pipeline.py: 280]
+05/25 11:48:06 WARNING: [Worker 0] No trajectory data to save for house_504	[pipeline.py: 229]
+05/25 11:48:06 INFO: [Worker 0] Worker 0 completed house 504: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:48:06 INFO: [Worker 0] Worker 0 starting house 529 (index 8/111)	[pipeline.py: 473]
+05/25 11:48:06 INFO: [Worker 0] Loaded 1 episodes for house 529 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_01	[json_eval_runner.py: 278]
+05/25 11:48:06 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 11:48:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1e4b75a1bb484c42b99fcd3ddf23ae9f	[json_eval_task_sampler.py: 648]
+05/25 11:48:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/591a76b35b094562b9dec8ffa5b77387	[json_eval_task_sampler.py: 648]
+05/25 11:48:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d8bcf6509a5d40378f2baec03bf551a5	[json_eval_task_sampler.py: 648]
+05/25 11:48:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_529_ceiling.xml	[task_sampler.py: 797]
+05/25 11:48:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=529, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:48:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:48:13 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects	[json_eval_task_sampler.py: 686]
+05/25 11:48:13 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:48:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:48:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:48:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:48:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:48:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:48:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:48:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:48:13 INFO: [Worker 0] Sampled task 'Pick up the small black smart speaker with led and place it in or on the rugged textured gray rustic bowl'	[task_sampler.py: 1136]
+05/25 11:48:13 INFO: [Worker 0] Worker 0 house 529 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:48:13 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:48:13 WARNING: [Worker 0] Could not find object objaneonsign_a93f115f55bf4991bb05c769fcfcf71c_1_0_2 in scene	[object_manager.py: 1238]
+05/25 11:48:13 WARNING: [Worker 0] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_2 in scene	[object_manager.py: 1238]
+05/25 11:48:13 WARNING: [Worker 0] Could not find object objafantasyplant_c8251feed92f41f197376ab4fd543e27_1_0_2 in scene	[object_manager.py: 1238]
+05/25 11:48:13 WARNING: [Worker 0] Could not find object cellulartelephone_eebaa73634b56074933036e2a1bdf24c_1_0_2 in scene	[object_manager.py: 1238]
+05/25 11:48:13 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_2_0_6 in scene	[object_manager.py: 1238]
+05/25 11:50:51 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 11:56:26 INFO: [Worker 0] Worker 0 house 529 episode 0 object objasmartspeaker_4fac317f9fb541afa8627ab68999ab19_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 11:56:29 INFO: [Worker 0] Batching and saving trajectory data for house_529: 1 episodes	[pipeline.py: 233]
+05/25 11:56:29 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:56:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:56:32 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_529	[save_utils.py: 703]
+05/25 11:56:32 INFO: [Worker 0] Successfully saved trajectory data for house_529 in 2.77s (batch: 2.66s, save: 0.12s)	[pipeline.py: 280]
+05/25 11:56:33 WARNING: [Worker 0] No trajectory data to save for house_529	[pipeline.py: 229]
+05/25 11:56:33 INFO: [Worker 0] Worker 0 completed house 529: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:56:33 INFO: [Worker 0] Worker 0 starting house 1001 (index 9/111)	[pipeline.py: 473]
+05/25 11:56:33 INFO: [Worker 0] Loaded 2 episodes for house 1001 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_01	[json_eval_runner.py: 278]
+05/25 11:56:33 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 11:56:34 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/8c419f6d0cbc4580a2e2b9d273969b97	[json_eval_task_sampler.py: 648]
+05/25 11:56:34 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/56dccb62700a4c04b42646e060c087f5	[json_eval_task_sampler.py: 648]
+05/25 11:56:34 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/372c4540cbe148b9bddcbbf1761b5e81	[json_eval_task_sampler.py: 648]
+05/25 11:56:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1001_ceiling.xml	[task_sampler.py: 797]
+05/25 11:56:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1001, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:56:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:56:38 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects	[json_eval_task_sampler.py: 686]
+05/25 11:56:38 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:56:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:56:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:56:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:56:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:56:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:56:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:56:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:56:38 INFO: [Worker 0] Sampled task 'Pick up the yellow handheld gps with antenna and place it in or on the shallow round wooden bowl with grain'	[task_sampler.py: 1136]
+05/25 11:56:38 INFO: [Worker 0] Worker 0 house 1001 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 11:56:38 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:56:39 WARNING: [Worker 0] Could not find object cellulartelephone_8c2887320948bf2580f27f36caf806e5_2_0_6 in scene	[object_manager.py: 1238]
+05/25 11:56:39 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 12:02:20 INFO: [Worker 0] Worker 0 house 1001 episode 0 object objagpsdevice_5ec82b191b4d44b299cb1fcea0308296_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 12:02:25 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 12:02:28 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/8c419f6d0cbc4580a2e2b9d273969b97	[json_eval_task_sampler.py: 648]
+05/25 12:02:28 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/56dccb62700a4c04b42646e060c087f5	[json_eval_task_sampler.py: 648]
+05/25 12:02:28 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/372c4540cbe148b9bddcbbf1761b5e81	[json_eval_task_sampler.py: 648]
+05/25 12:02:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1001_ceiling.xml	[task_sampler.py: 797]
+05/25 12:02:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1001, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:02:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:02:35 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects	[json_eval_task_sampler.py: 686]
+05/25 12:02:35 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:02:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:02:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:02:35 INFO: [Worker 0] Sampled task 'Pick up the garden hose connector and place it in or on the handmade rustic gray clay bowl'	[task_sampler.py: 1136]
+05/25 12:02:35 INFO: [Worker 0] Worker 0 house 1001 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 12:02:35 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:02:36 WARNING: [Worker 0] Could not find object cellulartelephone_8c2887320948bf2580f27f36caf806e5_2_0_6 in scene	[object_manager.py: 1238]
+05/25 12:08:04 INFO: [Worker 0] Worker 0 house 1001 episode 1 object objagardenhoseconnector_bf765bb3a0824d8fb21121f299b44df4_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 12:08:09 INFO: [Worker 0] Batching and saving trajectory data for house_1001: 2 episodes	[pipeline.py: 233]
+05/25 12:08:09 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:08:12 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:08:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:08:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:08:15 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1001	[save_utils.py: 703]
+05/25 12:08:15 INFO: [Worker 0] Successfully saved trajectory data for house_1001 in 6.93s (batch: 6.56s, save: 0.37s)	[pipeline.py: 280]
+05/25 12:08:16 WARNING: [Worker 0] No trajectory data to save for house_1001	[pipeline.py: 229]
+05/25 12:08:16 INFO: [Worker 0] Worker 0 completed house 1001: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 12:08:16 INFO: [Worker 0] Worker 0 starting house 1035 (index 10/111)	[pipeline.py: 473]
+05/25 12:08:16 INFO: [Worker 0] Loaded 1 episodes for house 1035 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_01	[json_eval_runner.py: 278]
+05/25 12:08:16 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 12:08:18 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/44f5be7685c1439c85cf9bc36e78578a	[json_eval_task_sampler.py: 648]
+05/25 12:08:18 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/836b48b21dcb4842a208c66f106abf18	[json_eval_task_sampler.py: 648]
+05/25 12:08:18 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/af624cab76c04bec86f0c928207797d8	[json_eval_task_sampler.py: 648]
+05/25 12:08:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1035_ceiling.xml	[task_sampler.py: 797]
+05/25 12:08:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1035, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:08:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:08:22 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects	[json_eval_task_sampler.py: 686]
+05/25 12:08:22 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:08:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:08:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:08:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:08:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:08:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:08:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:08:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:08:22 INFO: [Worker 0] Sampled task 'Pick up the rustic flaky golden croissant with seeds and place it in or on the black bowl with colorful grid'	[task_sampler.py: 1136]
+05/25 12:08:22 INFO: [Worker 0] Worker 0 house 1035 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:08:22 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:10:47 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 12:15:36 INFO: [Worker 0] Worker 0 house 1035 episode 0 object objacroissant_8a41705977b44e3f9fe3393b9dccc226_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 12:15:40 INFO: [Worker 0] Batching and saving trajectory data for house_1035: 1 episodes	[pipeline.py: 233]
+05/25 12:15:40 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:15:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:15:43 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1035	[save_utils.py: 703]
+05/25 12:15:43 INFO: [Worker 0] Successfully saved trajectory data for house_1035 in 2.92s (batch: 2.79s, save: 0.13s)	[pipeline.py: 280]
+05/25 12:15:44 WARNING: [Worker 0] No trajectory data to save for house_1035	[pipeline.py: 229]
+05/25 12:15:44 INFO: [Worker 0] Worker 0 completed house 1035: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:15:44 INFO: [Worker 0] Worker 0 starting house 1081 (index 11/111)	[pipeline.py: 473]
+05/25 12:15:44 INFO: [Worker 0] Loaded 1 episodes for house 1081 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_01	[json_eval_runner.py: 278]
+05/25 12:15:44 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]
+05/25 12:15:45 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/292913530b1c41709ffc8685fbb9d55a	[json_eval_task_sampler.py: 648]
+05/25 12:15:45 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5f6ab8152ec9440e9b922def5ae8b8b2	[json_eval_task_sampler.py: 648]
+05/25 12:15:45 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_20	[json_eval_task_sampler.py: 648]
+05/25 12:15:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1081_ceiling.xml	[task_sampler.py: 797]
+05/25 12:15:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1081, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:15:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:15:49 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects	[json_eval_task_sampler.py: 686]
+05/25 12:15:49 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:15:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:15:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:15:49 INFO: [Worker 0] Sampled task 'Pick up the dark stone cylindrical seal with carvings and place it in or on the red geometric patterned bowl'	[task_sampler.py: 1136]
+05/25 12:15:49 INFO: [Worker 0] Worker 0 house 1081 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:15:49 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:15:50 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 12:20:10 INFO: [Worker 0] Worker 0 house 1081 episode 0 object objacylinderseal_faa5a6851ee44affa0655094c13fd3b0_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 12:20:14 INFO: [Worker 0] Batching and saving trajectory data for house_1081: 1 episodes	[pipeline.py: 233]
+05/25 12:20:14 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:20:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:20:17 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1081	[save_utils.py: 703]
+05/25 12:20:17 INFO: [Worker 0] Successfully saved trajectory data for house_1081 in 2.88s (batch: 2.72s, save: 0.15s)	[pipeline.py: 280]
+05/25 12:20:17 WARNING: [Worker 0] No trajectory data to save for house_1081	[pipeline.py: 229]
+05/25 12:20:17 INFO: [Worker 0] Worker 0 completed house 1081: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:20:17 INFO: [Worker 0] Worker 0 starting house 1119 (index 12/111)	[pipeline.py: 473]
+05/25 12:20:17 INFO: [Worker 0] Loaded 1 episodes for house 1119 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_01	[json_eval_runner.py: 278]
+05/25 12:20:17 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 12:20:20 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/08dd440442874c8e8ae35494b4aff0a2	[json_eval_task_sampler.py: 648]
+05/25 12:20:20 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0500b0d9ef6f40dd96591d7b354c9ede	[json_eval_task_sampler.py: 648]
+05/25 12:20:20 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b54b110dfccb4ea3a8f5a06cc65edc5a	[json_eval_task_sampler.py: 648]
+05/25 12:20:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1119_ceiling.xml	[task_sampler.py: 797]
+05/25 12:20:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1119, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:20:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:20:24 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects	[json_eval_task_sampler.py: 686]
+05/25 12:20:24 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:20:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:20:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:20:25 INFO: [Worker 0] Sampled task 'Pick up the black bluetooth speaker and place it in or on the round ceramic bowl with patchwork'	[task_sampler.py: 1136]
+05/25 12:20:25 INFO: [Worker 0] Worker 0 house 1119 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:20:25 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:22:17 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 12:32:03 INFO: [Worker 0] Worker 0 house 1119 episode 0 object objabluetoothspeaker_54adb6dd50ef44bbbe0338b7ab8c3b79_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 12:32:10 INFO: [Worker 0] Batching and saving trajectory data for house_1119: 1 episodes	[pipeline.py: 233]
+05/25 12:32:10 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:32:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:32:16 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1119	[save_utils.py: 703]
+05/25 12:32:16 INFO: [Worker 0] Successfully saved trajectory data for house_1119 in 5.74s (batch: 5.35s, save: 0.39s)	[pipeline.py: 280]
+05/25 12:32:17 WARNING: [Worker 0] No trajectory data to save for house_1119	[pipeline.py: 229]
+05/25 12:32:17 INFO: [Worker 0] Worker 0 completed house 1119: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:32:17 INFO: [Worker 0] Worker 0 starting house 1179 (index 13/111)	[pipeline.py: 473]
+05/25 12:32:17 INFO: [Worker 0] Loaded 1 episodes for house 1179 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_01	[json_eval_runner.py: 278]
+05/25 12:32:17 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 12:32:20 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/74f5c16ba1f5406ba30bda961f0c0bd1	[json_eval_task_sampler.py: 648]
+05/25 12:32:20 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/934bd78c490140198db542aee7f765fa	[json_eval_task_sampler.py: 648]
+05/25 12:32:20 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0500b0d9ef6f40dd96591d7b354c9ede	[json_eval_task_sampler.py: 648]
+05/25 12:32:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1179_ceiling.xml	[task_sampler.py: 797]
+05/25 12:32:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1179, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:32:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:32:26 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects	[json_eval_task_sampler.py: 686]
+05/25 12:32:26 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:32:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:32:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:32:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:32:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:32:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:32:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:32:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:32:26 INFO: [Worker 0] Sampled task 'Pick up the stockfish and place it in or on the rustic clay bowl'	[task_sampler.py: 1136]
+05/25 12:32:26 INFO: [Worker 0] Worker 0 house 1179 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:32:26 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:32:27 WARNING: [Worker 0] Could not find object objadecorativemold_148f80486ea04f9a873fb212e98f87ae_1_0_5 in scene	[object_manager.py: 1238]
+05/25 12:32:27 WARNING: [Worker 0] Could not find object soapdispenser_5acf7328863b475a4a374492d2c3434a_1_0_5 in scene	[object_manager.py: 1238]
+05/25 12:32:27 WARNING: [Worker 0] Could not find object objalever_b4e8376a83f9421881a8cefe856862ab_1_0_6 in scene	[object_manager.py: 1238]
+05/25 12:32:27 WARNING: [Worker 0] Could not find object alarmclock_85647c60207a07a17bbd65025ae5d72c_1_0_6 in scene	[object_manager.py: 1238]
+05/25 12:32:30 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 12:39:29 INFO: [Worker 0] Worker 0 house 1179 episode 0 object objadriedfish_00fbc8e52f834ba78b25ffb6962b98e8_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 12:39:36 INFO: [Worker 0] Batching and saving trajectory data for house_1179: 1 episodes	[pipeline.py: 233]
+05/25 12:39:36 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:39:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:39:40 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1179	[save_utils.py: 703]
+05/25 12:39:40 INFO: [Worker 0] Successfully saved trajectory data for house_1179 in 4.22s (batch: 4.05s, save: 0.17s)	[pipeline.py: 280]
+05/25 12:39:41 WARNING: [Worker 0] No trajectory data to save for house_1179	[pipeline.py: 229]
+05/25 12:39:41 INFO: [Worker 0] Worker 0 completed house 1179: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:39:41 INFO: [Worker 0] Worker 0 starting house 1222 (index 14/111)	[pipeline.py: 473]
+05/25 12:39:41 INFO: [Worker 0] Loaded 2 episodes for house 1222 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_01	[json_eval_runner.py: 278]
+05/25 12:39:41 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]
+05/25 12:39:43 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f9561598da77463f9eb6fecd4bc301b5	[json_eval_task_sampler.py: 648]
+05/25 12:39:43 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/576495fa2f9749adaca89aa604aa68b0	[json_eval_task_sampler.py: 648]
+05/25 12:39:43 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7bcc0425058142c59255979a2b61f0d2	[json_eval_task_sampler.py: 648]
+05/25 12:39:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1222_ceiling.xml	[task_sampler.py: 797]
+05/25 12:39:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1222, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:39:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:39:48 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects	[json_eval_task_sampler.py: 686]
+05/25 12:39:48 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:39:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:39:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:39:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:39:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:39:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:39:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:39:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:39:48 INFO: [Worker 0] Sampled task 'Pick up the small pink notebook with flower and place it in or on the round light colored ashtray with notches'	[task_sampler.py: 1136]
+05/25 12:39:48 INFO: [Worker 0] Worker 0 house 1222 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 12:39:48 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:43:41 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 12:49:12 INFO: [Worker 0] Worker 0 house 1222 episode 0 object objanotebook_ca51d5e826594959a3b460e88ccabd0e_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 12:49:16 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 12:49:18 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f9561598da77463f9eb6fecd4bc301b5	[json_eval_task_sampler.py: 648]
+05/25 12:49:18 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/576495fa2f9749adaca89aa604aa68b0	[json_eval_task_sampler.py: 648]
+05/25 12:49:18 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7bcc0425058142c59255979a2b61f0d2	[json_eval_task_sampler.py: 648]
+05/25 12:49:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1222_ceiling.xml	[task_sampler.py: 797]
+05/25 12:49:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1222, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:49:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:49:22 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects	[json_eval_task_sampler.py: 686]
+05/25 12:49:22 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:49:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:49:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:49:22 INFO: [Worker 0] Sampled task 'Pick up the gray badger figure and place it in or on the round light colored ashtray with notches'	[task_sampler.py: 1136]
+05/25 12:49:22 INFO: [Worker 0] Worker 0 house 1222 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 12:49:22 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:49:24 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 12:56:17 INFO: [Worker 0] Worker 0 house 1222 episode 1 object objaanimalfigure_687667d848954107b4302ef0393f82c2_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 12:56:22 INFO: [Worker 0] Batching and saving trajectory data for house_1222: 2 episodes	[pipeline.py: 233]
+05/25 12:56:22 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:56:26 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:56:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:56:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:56:29 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1222	[save_utils.py: 703]
+05/25 12:56:29 INFO: [Worker 0] Successfully saved trajectory data for house_1222 in 6.69s (batch: 6.39s, save: 0.31s)	[pipeline.py: 280]
+05/25 12:56:30 WARNING: [Worker 0] No trajectory data to save for house_1222	[pipeline.py: 229]
+05/25 12:56:30 INFO: [Worker 0] Worker 0 completed house 1222: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 12:56:30 INFO: [Worker 0] Worker 0 starting house 1227 (index 15/111)	[pipeline.py: 473]
+05/25 12:56:30 INFO: [Worker 0] Loaded 1 episodes for house 1227 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_01	[json_eval_runner.py: 278]
+05/25 12:56:30 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 12:56:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b60e63f150034acbabd32dc9ef8563de	[json_eval_task_sampler.py: 648]
+05/25 12:56:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ce448005340241c8acd2034b72cd09f8	[json_eval_task_sampler.py: 648]
+05/25 12:56:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a6cfd144a62e446c92f0987fb81d584f	[json_eval_task_sampler.py: 648]
+05/25 12:56:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1227_ceiling.xml	[task_sampler.py: 797]
+05/25 12:56:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1227, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:56:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:56:40 INFO: [Worker 0] randomize_scene: Setting poses for 86 objects	[json_eval_task_sampler.py: 686]
+05/25 12:56:40 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:56:40 INFO: [Worker 0] Sampled task 'Pick up the vintage iron and place it in or on the small teal box with heart'	[task_sampler.py: 1136]
+05/25 12:56:40 INFO: [Worker 0] Worker 0 house 1227 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:56:41 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:02:30 INFO: [Worker 0] Worker 0 house 1227 episode 0 object objavintageiron_187871edbc5e40d8a75a4b654ce32146_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 13:02:34 INFO: [Worker 0] Batching and saving trajectory data for house_1227: 1 episodes	[pipeline.py: 233]
+05/25 13:02:34 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:02:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:02:37 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1227	[save_utils.py: 703]
+05/25 13:02:37 INFO: [Worker 0] Successfully saved trajectory data for house_1227 in 3.00s (batch: 2.84s, save: 0.16s)	[pipeline.py: 280]
+05/25 13:02:38 WARNING: [Worker 0] No trajectory data to save for house_1227	[pipeline.py: 229]
+05/25 13:02:38 INFO: [Worker 0] Worker 0 completed house 1227: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:02:38 INFO: [Worker 0] Worker 0 starting house 1311 (index 16/111)	[pipeline.py: 473]
+05/25 13:02:38 INFO: [Worker 0] Loaded 1 episodes for house 1311 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_01	[json_eval_runner.py: 278]
+05/25 13:02:38 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 13:02:41 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/37d330a69f964e4689d8f4b57faf89f5	[json_eval_task_sampler.py: 648]
+05/25 13:02:41 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/7d2737e16fcf4d40bc549521ba6a2d02	[json_eval_task_sampler.py: 648]
+05/25 13:02:41 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/576495fa2f9749adaca89aa604aa68b0	[json_eval_task_sampler.py: 648]
+05/25 13:02:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1311_ceiling.xml	[task_sampler.py: 797]
+05/25 13:02:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1311, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:02:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:02:46 INFO: [Worker 0] randomize_scene: Setting poses for 84 objects	[json_eval_task_sampler.py: 686]
+05/25 13:02:46 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:02:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:02:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:02:46 INFO: [Worker 0] Sampled task 'Pick up the toroid and place it in or on the light ashtray'	[task_sampler.py: 1136]
+05/25 13:02:46 INFO: [Worker 0] Worker 0 house 1311 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:02:46 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:02:47 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 13:08:17 INFO: [Worker 0] Worker 0 house 1311 episode 0 object objaring_68378067cc8d46649f8756d248fd0f1e_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 13:08:23 INFO: [Worker 0] Batching and saving trajectory data for house_1311: 1 episodes	[pipeline.py: 233]
+05/25 13:08:23 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:08:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:08:27 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1311	[save_utils.py: 703]
+05/25 13:08:27 INFO: [Worker 0] Successfully saved trajectory data for house_1311 in 4.06s (batch: 3.93s, save: 0.13s)	[pipeline.py: 280]
+05/25 13:08:28 WARNING: [Worker 0] No trajectory data to save for house_1311	[pipeline.py: 229]
+05/25 13:08:28 INFO: [Worker 0] Worker 0 completed house 1311: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:08:28 INFO: [Worker 0] Worker 0 starting house 1365 (index 17/111)	[pipeline.py: 473]
+05/25 13:08:28 INFO: [Worker 0] Loaded 1 episodes for house 1365 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_01	[json_eval_runner.py: 278]
+05/25 13:08:28 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 13:08:29 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/cb8931cc79b24d9cacb1d12349594c3b	[json_eval_task_sampler.py: 648]
+05/25 13:08:29 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_18	[json_eval_task_sampler.py: 648]
+05/25 13:08:29 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_26	[json_eval_task_sampler.py: 648]
+05/25 13:08:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1365_ceiling.xml	[task_sampler.py: 797]
+05/25 13:08:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1365, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:08:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:08:33 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects	[json_eval_task_sampler.py: 686]
+05/25 13:08:33 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:08:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:08:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:08:33 INFO: [Worker 0] Sampled task 'Pick up the gray battery pack with cells and place it in or on the ashtray'	[task_sampler.py: 1136]
+05/25 13:08:33 INFO: [Worker 0] Worker 0 house 1365 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:08:33 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:08:35 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 13:18:05 INFO: [Worker 0] Worker 0 house 1365 episode 0 object objabatterypack_8da91806d89b4510aea52c28d402f359_2_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 13:18:11 INFO: [Worker 0] Batching and saving trajectory data for house_1365: 1 episodes	[pipeline.py: 233]
+05/25 13:18:11 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:18:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:18:16 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1365	[save_utils.py: 703]
+05/25 13:18:16 INFO: [Worker 0] Successfully saved trajectory data for house_1365 in 4.77s (batch: 4.55s, save: 0.22s)	[pipeline.py: 280]
+05/25 13:18:17 WARNING: [Worker 0] No trajectory data to save for house_1365	[pipeline.py: 229]
+05/25 13:18:17 INFO: [Worker 0] Worker 0 completed house 1365: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:18:17 INFO: [Worker 0] Worker 0 starting house 1451 (index 18/111)	[pipeline.py: 473]
+05/25 13:18:17 INFO: [Worker 0] Loaded 1 episodes for house 1451 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_01	[json_eval_runner.py: 278]
+05/25 13:18:17 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 13:18:18 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/53c885e05492439cace4cc626fec00cc	[json_eval_task_sampler.py: 648]
+05/25 13:18:18 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_24	[json_eval_task_sampler.py: 648]
+05/25 13:18:18 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/10578ce7eca64714b260b142553f34f5	[json_eval_task_sampler.py: 648]
+05/25 13:18:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1451_ceiling.xml	[task_sampler.py: 797]
+05/25 13:18:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1451, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:18:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:18:23 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects	[json_eval_task_sampler.py: 686]
+05/25 13:18:23 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:18:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:18:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:18:23 INFO: [Worker 0] Sampled task 'Pick up the stylized pink paw glove and place it in or on the gray bowl'	[task_sampler.py: 1136]
+05/25 13:18:23 INFO: [Worker 0] Worker 0 house 1451 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:18:23 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:18:23 WARNING: [Worker 0] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_1_0_2 in scene	[object_manager.py: 1238]
+05/25 13:18:23 WARNING: [Worker 0] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_3 in scene	[object_manager.py: 1238]
+05/25 13:18:25 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 13:25:06 INFO: [Worker 0] Worker 0 house 1451 episode 0 object objaglove_7f1d3bf29d694b829a0c170fefba375a_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 13:25:12 INFO: [Worker 0] Batching and saving trajectory data for house_1451: 1 episodes	[pipeline.py: 233]
+05/25 13:25:12 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:25:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:25:16 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1451	[save_utils.py: 703]
+05/25 13:25:16 INFO: [Worker 0] Successfully saved trajectory data for house_1451 in 4.37s (batch: 4.06s, save: 0.32s)	[pipeline.py: 280]
+05/25 13:25:17 WARNING: [Worker 0] No trajectory data to save for house_1451	[pipeline.py: 229]
+05/25 13:25:17 INFO: [Worker 0] Worker 0 completed house 1451: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:25:17 INFO: [Worker 0] Worker 0 starting house 1490 (index 19/111)	[pipeline.py: 473]
+05/25 13:25:17 INFO: [Worker 0] Loaded 2 episodes for house 1490 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_01	[json_eval_runner.py: 278]
+05/25 13:25:17 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 13:25:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1ef337c5cfda4d368ceb154c0e9fae0e	[json_eval_task_sampler.py: 648]
+05/25 13:25:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_14	[json_eval_task_sampler.py: 648]
+05/25 13:25:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7b3bfdab414148a08cbf46fc105e280a	[json_eval_task_sampler.py: 648]
+05/25 13:25:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1490_ceiling.xml	[task_sampler.py: 797]
+05/25 13:25:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1490, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:25:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:25:29 INFO: [Worker 0] randomize_scene: Setting poses for 94 objects	[json_eval_task_sampler.py: 686]
+05/25 13:25:29 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:25:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:25:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:25:29 INFO: [Worker 0] Sampled task 'Pick up the red and black rusty wrench and place it in or on the textured ceramic bowl with colors'	[task_sampler.py: 1136]
+05/25 13:25:29 INFO: [Worker 0] Worker 0 house 1490 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 13:25:30 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:25:30 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_7 in scene	[object_manager.py: 1238]
+05/25 13:28:45 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]
+05/25 13:34:26 INFO: [Worker 0] Worker 0 house 1490 episode 0 object objawrench_2974dacfb5bf460fac5ea1ad6164e196_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 13:34:29 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 13:34:32 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1ef337c5cfda4d368ceb154c0e9fae0e	[json_eval_task_sampler.py: 648]
+05/25 13:34:32 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_14	[json_eval_task_sampler.py: 648]
+05/25 13:34:32 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7b3bfdab414148a08cbf46fc105e280a	[json_eval_task_sampler.py: 648]
+05/25 13:34:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1490_ceiling.xml	[task_sampler.py: 797]
+05/25 13:34:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1490, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:34:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:34:38 INFO: [Worker 0] randomize_scene: Setting poses for 94 objects	[json_eval_task_sampler.py: 686]
+05/25 13:34:38 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:34:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:34:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:34:38 INFO: [Worker 0] Sampled task 'Pick up the colorful decorative bowl and place it in or on the blue bowl'	[task_sampler.py: 1136]
+05/25 13:34:38 INFO: [Worker 0] Worker 0 house 1490 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 13:34:38 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:34:38 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_7 in scene	[object_manager.py: 1238]
+05/25 13:36:21 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 13:41:25 INFO: [Worker 0] Worker 0 house 1490 episode 1 object objadecorativebowl_906fdc79f5d84e8e8b3b467e794a8c00_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 13:41:30 INFO: [Worker 0] Batching and saving trajectory data for house_1490: 2 episodes	[pipeline.py: 233]
+05/25 13:41:30 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:41:34 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:41:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:41:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:41:38 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1490	[save_utils.py: 703]
+05/25 13:41:38 INFO: [Worker 0] Successfully saved trajectory data for house_1490 in 7.65s (batch: 7.21s, save: 0.44s)	[pipeline.py: 280]
+05/25 13:41:39 WARNING: [Worker 0] No trajectory data to save for house_1490	[pipeline.py: 229]
+05/25 13:41:39 INFO: [Worker 0] Worker 0 completed house 1490: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 13:41:39 INFO: [Worker 0] Worker 0 starting house 1525 (index 20/111)	[pipeline.py: 473]
+05/25 13:41:39 INFO: [Worker 0] Loaded 1 episodes for house 1525 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_01	[json_eval_runner.py: 278]
+05/25 13:41:39 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 13:41:42 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0aab5f2a6f744c13bffef0fccf53c0e0	[json_eval_task_sampler.py: 648]
+05/25 13:41:42 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ac2b50d2542c4f458b4ea404b8ed5e4b	[json_eval_task_sampler.py: 648]
+05/25 13:41:42 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/39afab89520c460598805c0a6bad291c	[json_eval_task_sampler.py: 648]
+05/25 13:41:42 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 13:41:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1525_ceiling.xml	[task_sampler.py: 797]
+05/25 13:41:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1525, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:41:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:41:48 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects	[json_eval_task_sampler.py: 686]
+05/25 13:41:48 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:41:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:41:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:41:48 INFO: [Worker 0] Sampled task 'Pick up the stone fish and place it in or on the rectangular glossy shallow dish'	[task_sampler.py: 1136]
+05/25 13:41:48 INFO: [Worker 0] Worker 0 house 1525 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:41:48 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:41:48 WARNING: [Worker 0] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene	[object_manager.py: 1238]
+05/25 13:41:50 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 13:46:45 INFO: [Worker 0] Worker 0 house 1525 episode 0 object objadecorativefish_5a1f0f032b2a4774887620ca540318c4_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 13:46:50 INFO: [Worker 0] Batching and saving trajectory data for house_1525: 1 episodes	[pipeline.py: 233]
+05/25 13:46:50 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:46:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:46:53 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1525	[save_utils.py: 703]
+05/25 13:46:53 INFO: [Worker 0] Successfully saved trajectory data for house_1525 in 3.22s (batch: 3.07s, save: 0.16s)	[pipeline.py: 280]
+05/25 13:46:54 WARNING: [Worker 0] No trajectory data to save for house_1525	[pipeline.py: 229]
+05/25 13:46:54 INFO: [Worker 0] Worker 0 completed house 1525: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:46:54 INFO: [Worker 0] Worker 0 starting house 1556 (index 21/111)	[pipeline.py: 473]
+05/25 13:46:54 INFO: [Worker 0] Loaded 1 episodes for house 1556 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_01	[json_eval_runner.py: 278]
+05/25 13:46:54 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 13:46:55 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/dc75becfc0104a358ad1354b65d19475	[json_eval_task_sampler.py: 648]
+05/25 13:46:55 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/521e5cb1802643d0bb7366e1f85c18a9	[json_eval_task_sampler.py: 648]
+05/25 13:46:55 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0f5266888bc749ea916c69d88b375cbf	[json_eval_task_sampler.py: 648]
+05/25 13:46:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1556_ceiling.xml	[task_sampler.py: 797]
+05/25 13:46:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1556, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:46:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:46:58 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects	[json_eval_task_sampler.py: 686]
+05/25 13:46:58 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:46:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:46:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:46:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:46:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:46:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:46:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:46:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:46:58 INFO: [Worker 0] Sampled task 'Pick up the colorful geometric molecular model and place it in or on the round ceramic bowl'	[task_sampler.py: 1136]
+05/25 13:46:58 INFO: [Worker 0] Worker 0 house 1556 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:46:59 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:46:59 WARNING: [Worker 0] Could not find object objalantern_1b34922ffa0248b489c6c0fa54890e9a_1_0_5 in scene	[object_manager.py: 1238]
+05/25 13:46:59 WARNING: [Worker 0] Could not find object fabric_8b382fcf75cb442de8954844ebbb6318_1_0_5 in scene	[object_manager.py: 1238]
+05/25 13:47:00 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 13:52:47 INFO: [Worker 0] Worker 0 house 1556 episode 0 object objaeducationaltoy_3d86ad3a43be4e7faf00336577c4edd3_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 13:52:51 INFO: [Worker 0] Batching and saving trajectory data for house_1556: 1 episodes	[pipeline.py: 233]
+05/25 13:52:51 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:52:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:52:54 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1556	[save_utils.py: 703]
+05/25 13:52:54 INFO: [Worker 0] Successfully saved trajectory data for house_1556 in 3.39s (batch: 3.25s, save: 0.14s)	[pipeline.py: 280]
+05/25 13:52:55 WARNING: [Worker 0] No trajectory data to save for house_1556	[pipeline.py: 229]
+05/25 13:52:55 INFO: [Worker 0] Worker 0 completed house 1556: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:52:55 INFO: [Worker 0] Worker 0 starting house 1606 (index 22/111)	[pipeline.py: 473]
+05/25 13:52:55 INFO: [Worker 0] Loaded 1 episodes for house 1606 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_01	[json_eval_runner.py: 278]
+05/25 13:52:55 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 13:52:59 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/5f6ab8152ec9440e9b922def5ae8b8b2	[json_eval_task_sampler.py: 648]
+05/25 13:52:59 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_13	[json_eval_task_sampler.py: 648]
+05/25 13:52:59 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_19	[json_eval_task_sampler.py: 648]
+05/25 13:53:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1606_ceiling.xml	[task_sampler.py: 797]
+05/25 13:53:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1606, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:53:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:53:06 INFO: [Worker 0] randomize_scene: Setting poses for 93 objects	[json_eval_task_sampler.py: 686]
+05/25 13:53:06 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:53:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:53:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:53:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:53:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:53:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:53:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:53:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:53:06 INFO: [Worker 0] Sampled task 'Pick up the white spacecraft with orange wings and place it in or on the smooth shallow terracotta bowl with ridges'	[task_sampler.py: 1136]
+05/25 13:53:06 INFO: [Worker 0] Worker 0 house 1606 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:53:06 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:53:07 WARNING: [Worker 0] Could not find object objacoresample_1523f4c39bc84375b9ebf4e66fe972bf_1_0_8 in scene	[object_manager.py: 1238]
+05/25 13:53:08 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 14:02:08 INFO: [Worker 0] Worker 0 house 1606 episode 0 object objatoyspacecraft_2207121457a04c09a907af9d9909efda_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 14:02:13 INFO: [Worker 0] Batching and saving trajectory data for house_1606: 1 episodes	[pipeline.py: 233]
+05/25 14:02:13 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:02:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:02:18 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1606	[save_utils.py: 703]
+05/25 14:02:18 INFO: [Worker 0] Successfully saved trajectory data for house_1606 in 4.41s (batch: 4.14s, save: 0.27s)	[pipeline.py: 280]
+05/25 14:02:19 WARNING: [Worker 0] No trajectory data to save for house_1606	[pipeline.py: 229]
+05/25 14:02:19 INFO: [Worker 0] Worker 0 completed house 1606: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:02:19 INFO: [Worker 0] Worker 0 starting house 1634 (index 23/111)	[pipeline.py: 473]
+05/25 14:02:19 INFO: [Worker 0] Loaded 1 episodes for house 1634 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_01	[json_eval_runner.py: 278]
+05/25 14:02:19 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 14:02:23 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e11475635c464216a2213d65c45a319a	[json_eval_task_sampler.py: 648]
+05/25 14:02:23 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_21	[json_eval_task_sampler.py: 648]
+05/25 14:02:23 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/76d1dd1d3f874897b4a630216570d49d	[json_eval_task_sampler.py: 648]
+05/25 14:02:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1634_ceiling.xml	[task_sampler.py: 797]
+05/25 14:02:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1634, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:02:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:02:31 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects	[json_eval_task_sampler.py: 686]
+05/25 14:02:31 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:02:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:02:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:02:31 INFO: [Worker 0] Sampled task 'Pick up the green glossy dog prism and place it in or on the rustic stone bowl'	[task_sampler.py: 1136]
+05/25 14:02:31 INFO: [Worker 0] Worker 0 house 1634 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:02:31 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:02:32 WARNING: [Worker 0] Could not find object vase_485850bef5e28630dd1156aaec2e3528_1_0_7 in scene	[object_manager.py: 1238]
+05/25 14:15:51 INFO: [Worker 0] Worker 0 house 1634 episode 0 object objaphotoblock_4d5340816228455a944a36753b977425_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 14:15:56 INFO: [Worker 0] Batching and saving trajectory data for house_1634: 1 episodes	[pipeline.py: 233]
+05/25 14:15:56 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:15:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:15:59 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1634	[save_utils.py: 703]
+05/25 14:15:59 INFO: [Worker 0] Successfully saved trajectory data for house_1634 in 3.51s (batch: 3.35s, save: 0.16s)	[pipeline.py: 280]
+05/25 14:16:00 WARNING: [Worker 0] No trajectory data to save for house_1634	[pipeline.py: 229]
+05/25 14:16:00 INFO: [Worker 0] Worker 0 completed house 1634: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:16:00 INFO: [Worker 0] Worker 0 starting house 1677 (index 24/111)	[pipeline.py: 473]
+05/25 14:16:00 INFO: [Worker 0] Loaded 1 episodes for house 1677 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_01	[json_eval_runner.py: 278]
+05/25 14:16:00 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]
+05/25 14:16:02 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_1	[json_eval_task_sampler.py: 648]
+05/25 14:16:02 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_25	[json_eval_task_sampler.py: 648]
+05/25 14:16:02 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e11475635c464216a2213d65c45a319a	[json_eval_task_sampler.py: 648]
+05/25 14:16:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1677_ceiling.xml	[task_sampler.py: 797]
+05/25 14:16:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1677, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:16:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:16:06 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects	[json_eval_task_sampler.py: 686]
+05/25 14:16:06 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:16:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:16:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:16:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:16:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:16:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:16:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:16:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:16:06 INFO: [Worker 0] Sampled task 'Pick up the blue sneaker and place it in or on the rustic earthy textured bowl'	[task_sampler.py: 1136]
+05/25 14:16:06 INFO: [Worker 0] Worker 0 house 1677 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:16:07 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:16:07 WARNING: [Worker 0] Could not find object objatissuebox_65d3d9a616c544f2b57f91c23ce4d68b_1_0_6 in scene	[object_manager.py: 1238]
+05/25 14:27:07 INFO: [Worker 0] Worker 0 house 1677 episode 0 object objasneaker_75c97069e89c4d84ab36922b77a97678_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 14:27:12 INFO: [Worker 0] Batching and saving trajectory data for house_1677: 1 episodes	[pipeline.py: 233]
+05/25 14:27:12 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:27:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:27:16 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1677	[save_utils.py: 703]
+05/25 14:27:16 INFO: [Worker 0] Successfully saved trajectory data for house_1677 in 3.71s (batch: 3.55s, save: 0.16s)	[pipeline.py: 280]
+05/25 14:27:17 WARNING: [Worker 0] No trajectory data to save for house_1677	[pipeline.py: 229]
+05/25 14:27:17 INFO: [Worker 0] Worker 0 completed house 1677: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:27:17 INFO: [Worker 0] Worker 0 starting house 1739 (index 25/111)	[pipeline.py: 473]
+05/25 14:27:17 INFO: [Worker 0] Loaded 1 episodes for house 1739 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_01	[json_eval_runner.py: 278]
+05/25 14:27:17 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 14:27:21 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d50f554707f24584b988e2feea162cc5	[json_eval_task_sampler.py: 648]
+05/25 14:27:21 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/dc75becfc0104a358ad1354b65d19475	[json_eval_task_sampler.py: 648]
+05/25 14:27:21 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4	[json_eval_task_sampler.py: 648]
+05/25 14:27:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1739_ceiling.xml	[task_sampler.py: 797]
+05/25 14:27:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1739, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:27:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:27:29 INFO: [Worker 0] randomize_scene: Setting poses for 100 objects	[json_eval_task_sampler.py: 686]
+05/25 14:27:29 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:27:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:27:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:27:29 INFO: [Worker 0] Sampled task 'Pick up the movie camera and place it in or on the round gray ceramic bowl'	[task_sampler.py: 1136]
+05/25 14:27:29 INFO: [Worker 0] Worker 0 house 1739 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:27:30 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:27:31 WARNING: [Worker 0] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_2_0_4 in scene	[object_manager.py: 1238]
+05/25 14:27:31 WARNING: [Worker 0] Could not find object objacollar_eb320910987847f0b361c8c1936d9574_1_0_9 in scene	[object_manager.py: 1238]
+05/25 14:27:31 WARNING: [Worker 0] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_9 in scene	[object_manager.py: 1238]
+05/25 14:40:42 INFO: [Worker 0] Worker 0 house 1739 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 14:40:48 INFO: [Worker 0] Batching and saving trajectory data for house_1739: 1 episodes	[pipeline.py: 233]
+05/25 14:40:48 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:40:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:40:53 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1739	[save_utils.py: 703]
+05/25 14:40:53 INFO: [Worker 0] Successfully saved trajectory data for house_1739 in 4.90s (batch: 4.60s, save: 0.30s)	[pipeline.py: 280]
+05/25 14:40:54 WARNING: [Worker 0] No trajectory data to save for house_1739	[pipeline.py: 229]
+05/25 14:40:54 INFO: [Worker 0] Worker 0 completed house 1739: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:40:54 INFO: [Worker 0] Worker 0 starting house 1783 (index 26/111)	[pipeline.py: 473]
+05/25 14:40:54 INFO: [Worker 0] Loaded 1 episodes for house 1783 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_01	[json_eval_runner.py: 278]
+05/25 14:40:54 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 14:40:55 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_1	[json_eval_task_sampler.py: 648]
+05/25 14:40:55 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/55bd2652583048adb5f261974f28b134	[json_eval_task_sampler.py: 648]
+05/25 14:40:55 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_16	[json_eval_task_sampler.py: 648]
+05/25 14:40:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1783_ceiling.xml	[task_sampler.py: 797]
+05/25 14:40:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1783, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:40:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:40:58 INFO: [Worker 0] randomize_scene: Setting poses for 26 objects	[json_eval_task_sampler.py: 686]
+05/25 14:40:58 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:40:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:40:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:40:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:40:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:40:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:40:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:40:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:40:58 INFO: [Worker 0] Sampled task 'Pick up the purple rectangular soap bar with text and place it in or on the round metallic bowl with patina'	[task_sampler.py: 1136]
+05/25 14:40:58 INFO: [Worker 0] Worker 0 house 1783 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:40:58 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:40:58 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_3 in scene	[object_manager.py: 1238]
+05/25 14:41:01 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 14:42:32 INFO: [Worker 0] Worker 0 house 1783 episode 0 object objasoap_dd4f76ca92e647ba804a3a1a19cb5c56_1_0_3 completed with success=True	[pipeline.py: 1114]
+05/25 14:42:37 INFO: [Worker 0] Batching and saving trajectory data for house_1783: 1 episodes	[pipeline.py: 233]
+05/25 14:42:37 INFO: [Worker 0] Preparing episode data: 103 timesteps	[save_utils.py: 284]
+05/25 14:42:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:42:42 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1783	[save_utils.py: 703]
+05/25 14:42:42 INFO: [Worker 0] Successfully saved trajectory data for house_1783 in 4.59s (batch: 4.35s, save: 0.24s)	[pipeline.py: 280]
+05/25 14:42:43 WARNING: [Worker 0] No trajectory data to save for house_1783	[pipeline.py: 229]
+05/25 14:42:43 INFO: [Worker 0] Worker 0 completed house 1783: 1/1 successful episodes	[pipeline.py: 1243]
+05/25 14:42:43 INFO: [Worker 0] Worker 0 starting house 1836 (index 27/111)	[pipeline.py: 473]
+05/25 14:42:43 INFO: [Worker 0] Loaded 2 episodes for house 1836 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_01	[json_eval_runner.py: 278]
+05/25 14:42:43 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 14:42:45 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_29	[json_eval_task_sampler.py: 648]
+05/25 14:42:45 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ce448005340241c8acd2034b72cd09f8	[json_eval_task_sampler.py: 648]
+05/25 14:42:45 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4351af051964283968b5fed441ee844	[json_eval_task_sampler.py: 648]
+05/25 14:42:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1836_ceiling.xml	[task_sampler.py: 797]
+05/25 14:42:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1836, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:42:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:42:52 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects	[json_eval_task_sampler.py: 686]
+05/25 14:42:52 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:42:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:42:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:42:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:42:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:42:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:42:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:42:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:42:52 INFO: [Worker 0] Sampled task 'Pick up the red sloped toy brick and place it in or on the small teal box with heart'	[task_sampler.py: 1136]
+05/25 14:42:52 INFO: [Worker 0] Worker 0 house 1836 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 14:42:52 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:42:55 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 14:49:46 INFO: [Worker 0] Worker 0 house 1836 episode 0 object objatoybrick_4c61e896776c42c98f9e5d8fc3705819_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 14:49:50 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]
+05/25 14:49:51 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_29	[json_eval_task_sampler.py: 648]
+05/25 14:49:51 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ce448005340241c8acd2034b72cd09f8	[json_eval_task_sampler.py: 648]
+05/25 14:49:51 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4351af051964283968b5fed441ee844	[json_eval_task_sampler.py: 648]
+05/25 14:49:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1836_ceiling.xml	[task_sampler.py: 797]
+05/25 14:49:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1836, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:49:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:49:55 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects	[json_eval_task_sampler.py: 686]
+05/25 14:49:55 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:49:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:49:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:49:55 INFO: [Worker 0] Sampled task 'Pick up the pale yellow disk with indentations and place it in or on the small teal box with heart'	[task_sampler.py: 1136]
+05/25 14:49:55 INFO: [Worker 0] Worker 0 house 1836 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 14:49:56 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:49:58 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 14:54:47 INFO: [Worker 0] Worker 0 house 1836 episode 1 object objadisk_97aa2085a8c143c0aacdce273d66d03d_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 14:54:52 INFO: [Worker 0] Batching and saving trajectory data for house_1836: 2 episodes	[pipeline.py: 233]
+05/25 14:54:52 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:54:55 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:54:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:54:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:54:59 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1836	[save_utils.py: 703]
+05/25 14:54:59 INFO: [Worker 0] Successfully saved trajectory data for house_1836 in 7.34s (batch: 7.07s, save: 0.27s)	[pipeline.py: 280]
+05/25 14:55:00 WARNING: [Worker 0] No trajectory data to save for house_1836	[pipeline.py: 229]
+05/25 14:55:00 INFO: [Worker 0] Worker 0 completed house 1836: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 14:55:00 INFO: [Worker 0] Worker 0 starting house 1845 (index 28/111)	[pipeline.py: 473]
+05/25 14:55:00 INFO: [Worker 0] Loaded 1 episodes for house 1845 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_01	[json_eval_runner.py: 278]
+05/25 14:55:00 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]
+05/25 14:55:03 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e5c6cae2c71b45fe8fee9657af246c2c	[json_eval_task_sampler.py: 648]
+05/25 14:55:03 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b63ca5b519ba4920a6288da00d9224bd	[json_eval_task_sampler.py: 648]
+05/25 14:55:03 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_7	[json_eval_task_sampler.py: 648]
+05/25 14:55:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1845_ceiling.xml	[task_sampler.py: 797]
+05/25 14:55:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1845, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:55:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:55:08 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects	[json_eval_task_sampler.py: 686]
+05/25 14:55:08 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:55:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:55:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:55:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:55:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:55:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:55:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:55:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:55:08 INFO: [Worker 0] Sampled task 'Pick up the red pepper with green stem and place it in or on the round handcrafted rustic bowl'	[task_sampler.py: 1136]
+05/25 14:55:08 INFO: [Worker 0] Worker 0 house 1845 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:55:08 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:55:09 WARNING: [Worker 0] Could not find object objanaturalsponge_77b6d6c657c143c7a64d93bf362bcf43_1_0_5 in scene	[object_manager.py: 1238]
+05/25 14:55:09 WARNING: [Worker 0] Could not find object objabookmark_3a40ec29515c4ac0ba393b1830ad39fc_1_0_8 in scene	[object_manager.py: 1238]
+05/25 14:57:59 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 15:04:18 INFO: [Worker 0] Worker 0 house 1845 episode 0 object objabellpepper_94032d9c7b1746079828b54b5d02c533_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 15:04:23 INFO: [Worker 0] Batching and saving trajectory data for house_1845: 1 episodes	[pipeline.py: 233]
+05/25 15:04:23 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:04:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:04:27 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1845	[save_utils.py: 703]
+05/25 15:04:27 INFO: [Worker 0] Successfully saved trajectory data for house_1845 in 3.76s (batch: 3.56s, save: 0.20s)	[pipeline.py: 280]
+05/25 15:04:28 WARNING: [Worker 0] No trajectory data to save for house_1845	[pipeline.py: 229]
+05/25 15:04:28 INFO: [Worker 0] Worker 0 completed house 1845: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:04:28 INFO: [Worker 0] Worker 0 starting house 1877 (index 29/111)	[pipeline.py: 473]
+05/25 15:04:28 INFO: [Worker 0] Loaded 1 episodes for house 1877 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_01	[json_eval_runner.py: 278]
+05/25 15:04:28 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 15:04:31 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/94f253a91bc14f21be83592faf5891ff	[json_eval_task_sampler.py: 648]
+05/25 15:04:31 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_26	[json_eval_task_sampler.py: 648]
+05/25 15:04:31 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_17	[json_eval_task_sampler.py: 648]
+05/25 15:04:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1877_ceiling.xml	[task_sampler.py: 797]
+05/25 15:04:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1877, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:04:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:04:37 INFO: [Worker 0] randomize_scene: Setting poses for 69 objects	[json_eval_task_sampler.py: 686]
+05/25 15:04:37 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:04:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:04:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:04:37 INFO: [Worker 0] Sampled task 'Pick up the golden eye symbol and place it in or on the gray bowl'	[task_sampler.py: 1136]
+05/25 15:04:37 INFO: [Worker 0] Worker 0 house 1877 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:04:37 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:04:38 WARNING: [Worker 0] Could not find object objanecklace_b4d304759a1b49849f84e53a31190c7c_1_0_5 in scene	[object_manager.py: 1238]
+05/25 15:04:38 WARNING: [Worker 0] Could not find object atomizer_6f646752c976a94a62a6979581d2556d_1_0_5 in scene	[object_manager.py: 1238]
+05/25 15:04:39 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 15:11:14 INFO: [Worker 0] Worker 0 house 1877 episode 0 object objadecorativesymbol_096e1889564d4e9c8836c7805c1ecebf_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 15:11:21 INFO: [Worker 0] Batching and saving trajectory data for house_1877: 1 episodes	[pipeline.py: 233]
+05/25 15:11:21 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:11:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:11:25 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1877	[save_utils.py: 703]
+05/25 15:11:25 INFO: [Worker 0] Successfully saved trajectory data for house_1877 in 4.45s (batch: 4.24s, save: 0.21s)	[pipeline.py: 280]
+05/25 15:11:26 WARNING: [Worker 0] No trajectory data to save for house_1877	[pipeline.py: 229]
+05/25 15:11:26 INFO: [Worker 0] Worker 0 completed house 1877: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:11:26 INFO: [Worker 0] Worker 0 starting house 1937 (index 30/111)	[pipeline.py: 473]
+05/25 15:11:26 INFO: [Worker 0] Loaded 1 episodes for house 1937 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_01	[json_eval_runner.py: 278]
+05/25 15:11:26 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 15:11:28 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/93ef7da87b1e43fbb47f3b26b927f777	[json_eval_task_sampler.py: 648]
+05/25 15:11:28 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/03f1185ff6d4428fa81f6fc9db589338	[json_eval_task_sampler.py: 648]
+05/25 15:11:28 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/977c0bb0114e4728b7c6ccb89da913ec	[json_eval_task_sampler.py: 648]
+05/25 15:11:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1937_ceiling.xml	[task_sampler.py: 797]
+05/25 15:11:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1937, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:11:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:11:33 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects	[json_eval_task_sampler.py: 686]
+05/25 15:11:33 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:11:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:11:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:11:33 INFO: [Worker 0] Sampled task 'Pick up the triangular golden chain with links and place it in or on the blue ceramic pot with colorful face'	[task_sampler.py: 1136]
+05/25 15:11:33 INFO: [Worker 0] Worker 0 house 1937 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:11:33 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:15:50 INFO: [Worker 0] Worker 0 house 1937 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 15:15:54 INFO: [Worker 0] Batching and saving trajectory data for house_1937: 1 episodes	[pipeline.py: 233]
+05/25 15:15:54 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:15:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:15:56 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1937	[save_utils.py: 703]
+05/25 15:15:56 INFO: [Worker 0] Successfully saved trajectory data for house_1937 in 2.69s (batch: 2.57s, save: 0.12s)	[pipeline.py: 280]
+05/25 15:15:57 WARNING: [Worker 0] No trajectory data to save for house_1937	[pipeline.py: 229]
+05/25 15:15:57 INFO: [Worker 0] Worker 0 completed house 1937: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:15:57 INFO: [Worker 0] Worker 0 starting house 1983 (index 31/111)	[pipeline.py: 473]
+05/25 15:15:57 INFO: [Worker 0] Loaded 1 episodes for house 1983 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_01	[json_eval_runner.py: 278]
+05/25 15:15:57 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 15:15:59 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e2a8c3df68a94aea94050e01ad9aa918	[json_eval_task_sampler.py: 648]
+05/25 15:15:59 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bdd36c94f3f74f22b02b8a069c8d97b7	[json_eval_task_sampler.py: 648]
+05/25 15:15:59 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9605b2b278774b5bb4e486695e6d920a	[json_eval_task_sampler.py: 648]
+05/25 15:16:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1983_ceiling.xml	[task_sampler.py: 797]
+05/25 15:16:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1983, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:16:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:16:04 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects	[json_eval_task_sampler.py: 686]
+05/25 15:16:04 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:16:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:16:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:16:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:16:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:16:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:16:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:16:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:16:04 INFO: [Worker 0] Sampled task 'Pick up the cream candle in blue holder and place it in or on the rustic off-white handmade bowl'	[task_sampler.py: 1136]
+05/25 15:16:04 INFO: [Worker 0] Worker 0 house 1983 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:16:04 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:16:04 WARNING: [Worker 0] Could not find object objacandle_42ad9182fa98425c99bfd06e1aa33e18_1_0_5 in scene	[object_manager.py: 1238]
+05/25 15:16:04 WARNING: [Worker 0] Could not find object atomizer_834d386e080077accc22e6eae5471528_1_0_5 in scene	[object_manager.py: 1238]
+05/25 15:16:05 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 15:21:11 INFO: [Worker 0] Worker 0 house 1983 episode 0 object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 15:21:15 INFO: [Worker 0] Batching and saving trajectory data for house_1983: 1 episodes	[pipeline.py: 233]
+05/25 15:21:15 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:21:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:21:19 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1983	[save_utils.py: 703]
+05/25 15:21:19 INFO: [Worker 0] Successfully saved trajectory data for house_1983 in 3.05s (batch: 2.94s, save: 0.11s)	[pipeline.py: 280]
+05/25 15:21:19 WARNING: [Worker 0] No trajectory data to save for house_1983	[pipeline.py: 229]
+05/25 15:21:19 INFO: [Worker 0] Worker 0 completed house 1983: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:21:19 INFO: [Worker 0] Worker 0 starting house 2063 (index 32/111)	[pipeline.py: 473]
+05/25 15:21:19 INFO: [Worker 0] Loaded 1 episodes for house 2063 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_01	[json_eval_runner.py: 278]
+05/25 15:21:19 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 15:21:20 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_6	[json_eval_task_sampler.py: 648]
+05/25 15:21:20 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4	[json_eval_task_sampler.py: 648]
+05/25 15:21:20 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/cb8931cc79b24d9cacb1d12349594c3b	[json_eval_task_sampler.py: 648]
+05/25 15:21:20 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 15:21:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2063_ceiling.xml	[task_sampler.py: 797]
+05/25 15:21:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2063, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:21:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:21:23 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects	[json_eval_task_sampler.py: 686]
+05/25 15:21:23 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:21:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:21:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:21:23 INFO: [Worker 0] Sampled task 'Pick up the purple bottle with white cap and place it in or on the clear ashtray with notches'	[task_sampler.py: 1136]
+05/25 15:21:23 INFO: [Worker 0] Worker 0 house 2063 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:21:23 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:21:24 WARNING: [Worker 0] Could not find object objaceilingtile_bf8ace08150545fb92f037f887658c37_1_0_3 in scene	[object_manager.py: 1238]
+05/25 15:21:25 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 15:26:17 INFO: [Worker 0] Worker 0 house 2063 episode 0 object objabottle_45032308a6a5458b80caf639876fe5ea_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 15:26:21 INFO: [Worker 0] Batching and saving trajectory data for house_2063: 1 episodes	[pipeline.py: 233]
+05/25 15:26:21 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:26:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:26:24 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2063	[save_utils.py: 703]
+05/25 15:26:24 INFO: [Worker 0] Successfully saved trajectory data for house_2063 in 2.72s (batch: 2.61s, save: 0.11s)	[pipeline.py: 280]
+05/25 15:26:25 WARNING: [Worker 0] No trajectory data to save for house_2063	[pipeline.py: 229]
+05/25 15:26:25 INFO: [Worker 0] Worker 0 completed house 2063: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:26:25 INFO: [Worker 0] Worker 0 starting house 2118 (index 33/111)	[pipeline.py: 473]
+05/25 15:26:25 INFO: [Worker 0] Loaded 1 episodes for house 2118 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_01	[json_eval_runner.py: 278]
+05/25 15:26:25 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 15:26:26 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_4	[json_eval_task_sampler.py: 648]
+05/25 15:26:26 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/937044a40c3845bf88639056005b8a75	[json_eval_task_sampler.py: 648]
+05/25 15:26:26 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7b3bfdab414148a08cbf46fc105e280a	[json_eval_task_sampler.py: 648]
+05/25 15:26:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2118_ceiling.xml	[task_sampler.py: 797]
+05/25 15:26:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2118, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:26:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:26:30 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects	[json_eval_task_sampler.py: 686]
+05/25 15:26:30 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:26:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:26:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:26:30 INFO: [Worker 0] Sampled task 'Pick up the orange fish sushi and place it in or on the white ceramic bowl with handle'	[task_sampler.py: 1136]
+05/25 15:26:30 INFO: [Worker 0] Worker 0 house 2118 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:26:30 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:26:31 WARNING: [Worker 0] Could not find object objahikingshoe_36cf424a356146249c8043410083858f_1_0_5 in scene	[object_manager.py: 1238]
+05/25 15:26:31 WARNING: [Worker 0] Could not find object objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_5 in scene	[object_manager.py: 1238]
+05/25 15:26:31 WARNING: [Worker 0] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_9 in scene	[object_manager.py: 1238]
+05/25 15:26:31 WARNING: [Worker 0] Could not find object objastopwatch_2d4d77ac85604a1ab61b934b19d301c8_1_0_9 in scene	[object_manager.py: 1238]
+05/25 15:27:44 INFO: [Worker 0] Worker 0 house 2118 episode 0 object objasushimodel_d8484bd4a7ae4c3993137019c6fdd182_1_0_2 completed with success=True	[pipeline.py: 1114]
+05/25 15:27:48 INFO: [Worker 0] Batching and saving trajectory data for house_2118: 1 episodes	[pipeline.py: 233]
+05/25 15:27:48 INFO: [Worker 0] Preparing episode data: 105 timesteps	[save_utils.py: 284]
+05/25 15:27:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:27:50 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2118	[save_utils.py: 703]
+05/25 15:27:50 INFO: [Worker 0] Successfully saved trajectory data for house_2118 in 2.63s (batch: 2.55s, save: 0.07s)	[pipeline.py: 280]
+05/25 15:27:51 WARNING: [Worker 0] No trajectory data to save for house_2118	[pipeline.py: 229]
+05/25 15:27:51 INFO: [Worker 0] Worker 0 completed house 2118: 1/1 successful episodes	[pipeline.py: 1243]
+05/25 15:27:51 INFO: [Worker 0] Worker 0 starting house 2150 (index 34/111)	[pipeline.py: 473]
+05/25 15:27:51 INFO: [Worker 0] Loaded 1 episodes for house 2150 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_01	[json_eval_runner.py: 278]
+05/25 15:27:51 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 15:27:52 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/592fc966e1de425cb6ad1982dfe6dda1	[json_eval_task_sampler.py: 648]
+05/25 15:27:52 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_9	[json_eval_task_sampler.py: 648]
+05/25 15:27:52 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4e33154ce3a40e4bd2b34f8de4f548c	[json_eval_task_sampler.py: 648]
+05/25 15:27:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2150_ceiling.xml	[task_sampler.py: 797]
+05/25 15:27:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2150, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:27:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:27:55 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects	[json_eval_task_sampler.py: 686]
+05/25 15:27:55 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:27:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:27:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:27:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:27:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:27:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:27:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:27:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:27:55 INFO: [Worker 0] Sampled task 'Pick up the ornate brass key and place it in or on the brown bowl with flowers'	[task_sampler.py: 1136]
+05/25 15:27:55 INFO: [Worker 0] Worker 0 house 2150 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:27:55 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:27:57 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 15:32:19 INFO: [Worker 0] Worker 0 house 2150 episode 0 object objaantiquekey_f985de95080242418aaa371b67a29b34_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 15:32:24 INFO: [Worker 0] Batching and saving trajectory data for house_2150: 1 episodes	[pipeline.py: 233]
+05/25 15:32:24 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:32:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:32:27 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2150	[save_utils.py: 703]
+05/25 15:32:27 INFO: [Worker 0] Successfully saved trajectory data for house_2150 in 3.68s (batch: 3.36s, save: 0.32s)	[pipeline.py: 280]
+05/25 15:32:28 WARNING: [Worker 0] No trajectory data to save for house_2150	[pipeline.py: 229]
+05/25 15:32:28 INFO: [Worker 0] Worker 0 completed house 2150: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:32:28 INFO: [Worker 0] Worker 0 starting house 2174 (index 35/111)	[pipeline.py: 473]
+05/25 15:32:28 INFO: [Worker 0] Loaded 1 episodes for house 2174 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_01	[json_eval_runner.py: 278]
+05/25 15:32:28 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 15:32:30 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/80f09dd8b3d34005b3625823091978af	[json_eval_task_sampler.py: 648]
+05/25 15:32:30 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/16bfd987e11444ca9c065718d49f5877	[json_eval_task_sampler.py: 648]
+05/25 15:32:30 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a37c32fbdbbb4ab19c8b1cccc557f52d	[json_eval_task_sampler.py: 648]
+05/25 15:32:30 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 15:32:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2174_ceiling.xml	[task_sampler.py: 797]
+05/25 15:32:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2174, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:32:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:32:34 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects	[json_eval_task_sampler.py: 686]
+05/25 15:32:34 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:32:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:32:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:32:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:32:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:32:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:32:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:32:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:32:34 INFO: [Worker 0] Sampled task 'Pick up the purple candy wrapper with lighthouse design and place it in or on the round metallic bowl'	[task_sampler.py: 1136]
+05/25 15:32:34 INFO: [Worker 0] Worker 0 house 2174 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:32:34 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:32:35 WARNING: [Worker 0] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_7 in scene	[object_manager.py: 1238]
+05/25 15:39:03 INFO: [Worker 0] Worker 0 house 2174 episode 0 object objacandywrapper_4a0fdf73d0474d778fd65ba220f50a71_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 15:39:08 INFO: [Worker 0] Batching and saving trajectory data for house_2174: 1 episodes	[pipeline.py: 233]
+05/25 15:39:08 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:39:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:39:11 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2174	[save_utils.py: 703]
+05/25 15:39:11 INFO: [Worker 0] Successfully saved trajectory data for house_2174 in 3.41s (batch: 3.21s, save: 0.20s)	[pipeline.py: 280]
+05/25 15:39:12 WARNING: [Worker 0] No trajectory data to save for house_2174	[pipeline.py: 229]
+05/25 15:39:12 INFO: [Worker 0] Worker 0 completed house 2174: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:39:12 INFO: [Worker 0] Worker 0 starting house 2205 (index 36/111)	[pipeline.py: 473]
+05/25 15:39:12 INFO: [Worker 0] Loaded 1 episodes for house 2205 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_01	[json_eval_runner.py: 278]
+05/25 15:39:12 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 15:39:13 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/2b2f2afe691143b1a0d9c56141b028f9	[json_eval_task_sampler.py: 648]
+05/25 15:39:13 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/50be4f8b8f744730878916aa38b0f08f	[json_eval_task_sampler.py: 648]
+05/25 15:39:13 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/976f5b6e9a1344628642051f680b176b	[json_eval_task_sampler.py: 648]
+05/25 15:39:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2205_ceiling.xml	[task_sampler.py: 797]
+05/25 15:39:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2205, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:39:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:39:16 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects	[json_eval_task_sampler.py: 686]
+05/25 15:39:16 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:39:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:39:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:39:16 INFO: [Worker 0] Sampled task 'Pick up the white ceramic vase with subtle ridges and place it in or on the brown wooden leaf tray'	[task_sampler.py: 1136]
+05/25 15:39:16 INFO: [Worker 0] Worker 0 house 2205 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:39:16 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:39:18 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 15:43:40 INFO: [Worker 0] Worker 0 house 2205 episode 0 object vase_c8834aef9cc9a4598baadc1d2562b549_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 15:43:44 INFO: [Worker 0] Batching and saving trajectory data for house_2205: 1 episodes	[pipeline.py: 233]
+05/25 15:43:44 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:43:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:43:48 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2205	[save_utils.py: 703]
+05/25 15:43:48 INFO: [Worker 0] Successfully saved trajectory data for house_2205 in 3.40s (batch: 3.23s, save: 0.16s)	[pipeline.py: 280]
+05/25 15:43:49 WARNING: [Worker 0] No trajectory data to save for house_2205	[pipeline.py: 229]
+05/25 15:43:49 INFO: [Worker 0] Worker 0 completed house 2205: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:43:49 INFO: [Worker 0] Worker 0 starting house 2245 (index 37/111)	[pipeline.py: 473]
+05/25 15:43:49 INFO: [Worker 0] Loaded 1 episodes for house 2245 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_01	[json_eval_runner.py: 278]
+05/25 15:43:49 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 15:43:51 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/4bf7b7b26a704818b1ed3d703a11855b	[json_eval_task_sampler.py: 648]
+05/25 15:43:51 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d50f554707f24584b988e2feea162cc5	[json_eval_task_sampler.py: 648]
+05/25 15:43:51 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b8cba8b5a69543ce9875c40028261490	[json_eval_task_sampler.py: 648]
+05/25 15:43:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2245_ceiling.xml	[task_sampler.py: 797]
+05/25 15:43:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2245, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:43:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:43:55 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects	[json_eval_task_sampler.py: 686]
+05/25 15:43:55 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:43:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:43:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:43:55 INFO: [Worker 0] Sampled task 'Pick up the white connector and place it in or on the decorative maroon box with floral patterns'	[task_sampler.py: 1136]
+05/25 15:43:55 INFO: [Worker 0] Worker 0 house 2245 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:43:56 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:43:56 WARNING: [Worker 0] Could not find object apple_8a1c7fb834f6201db020cae968b49bbc_1_0_8 in scene	[object_manager.py: 1238]
+05/25 15:43:58 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 15:49:23 INFO: [Worker 0] Worker 0 house 2245 episode 0 object objaelectricalconnector_dbdf5d0c07ab4d7ca8814ef57c537dd9_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 15:49:28 INFO: [Worker 0] Batching and saving trajectory data for house_2245: 1 episodes	[pipeline.py: 233]
+05/25 15:49:28 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:49:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:49:31 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2245	[save_utils.py: 703]
+05/25 15:49:31 INFO: [Worker 0] Successfully saved trajectory data for house_2245 in 3.47s (batch: 3.27s, save: 0.21s)	[pipeline.py: 280]
+05/25 15:49:32 WARNING: [Worker 0] No trajectory data to save for house_2245	[pipeline.py: 229]
+05/25 15:49:32 INFO: [Worker 0] Worker 0 completed house 2245: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:49:32 INFO: [Worker 0] Worker 0 starting house 2302 (index 38/111)	[pipeline.py: 473]
+05/25 15:49:32 INFO: [Worker 0] Loaded 1 episodes for house 2302 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_01	[json_eval_runner.py: 278]
+05/25 15:49:32 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 15:49:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/01395fa3a8e54abc8c32a016b2d8c5f5	[json_eval_task_sampler.py: 648]
+05/25 15:49:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_24	[json_eval_task_sampler.py: 648]
+05/25 15:49:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_20	[json_eval_task_sampler.py: 648]
+05/25 15:49:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2302_ceiling.xml	[task_sampler.py: 797]
+05/25 15:49:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2302, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:49:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:49:36 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects	[json_eval_task_sampler.py: 686]
+05/25 15:49:36 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:49:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:49:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:49:36 INFO: [Worker 0] Sampled task 'Pick up the blue sports visor with logo and place it in or on the crockery'	[task_sampler.py: 1136]
+05/25 15:49:36 INFO: [Worker 0] Worker 0 house 2302 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:49:37 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:54:39 INFO: [Worker 0] Worker 0 house 2302 episode 0 object objasportsvisor_2fe424987e594148959acafbebe79f41_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 15:54:44 INFO: [Worker 0] Batching and saving trajectory data for house_2302: 1 episodes	[pipeline.py: 233]
+05/25 15:54:44 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:54:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:54:49 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2302	[save_utils.py: 703]
+05/25 15:54:49 INFO: [Worker 0] Successfully saved trajectory data for house_2302 in 4.54s (batch: 4.32s, save: 0.23s)	[pipeline.py: 280]
+05/25 15:54:50 WARNING: [Worker 0] No trajectory data to save for house_2302	[pipeline.py: 229]
+05/25 15:54:50 INFO: [Worker 0] Worker 0 completed house 2302: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:54:50 INFO: [Worker 0] Worker 0 starting house 2332 (index 39/111)	[pipeline.py: 473]
+05/25 15:54:50 INFO: [Worker 0] Loaded 1 episodes for house 2332 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_01	[json_eval_runner.py: 278]
+05/25 15:54:50 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]
+05/25 15:54:52 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7754545bd7044b298506bb35b05578d5	[json_eval_task_sampler.py: 648]
+05/25 15:54:52 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c2bd80794a3947238fe610f5733be9d2	[json_eval_task_sampler.py: 648]
+05/25 15:54:52 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/74f5c16ba1f5406ba30bda961f0c0bd1	[json_eval_task_sampler.py: 648]
+05/25 15:54:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2332_ceiling.xml	[task_sampler.py: 797]
+05/25 15:54:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2332, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:54:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:54:59 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects	[json_eval_task_sampler.py: 686]
+05/25 15:54:59 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:54:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:54:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:54:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:54:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:54:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:54:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:54:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:54:59 INFO: [Worker 0] Sampled task 'Pick up the white cylindrical bottle with label and place it in or on the rustic clay bowl'	[task_sampler.py: 1136]
+05/25 15:54:59 INFO: [Worker 0] Worker 0 house 2332 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:54:59 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:55:00 WARNING: [Worker 0] Could not find object objasaw_d7d24a1f13ad440ba54d0805dc6d972b_1_0_4 in scene	[object_manager.py: 1238]
+05/25 15:55:00 WARNING: [Worker 0] Could not find object laptop_f09fcf086ebe9e3ab2d97bff50b833ef_1_0_4 in scene	[object_manager.py: 1238]
+05/25 15:55:02 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 16:01:42 INFO: [Worker 0] Worker 0 house 2332 episode 0 object objabottle_05ef0e44c661413a86ccdb7332a456c6_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 16:01:47 INFO: [Worker 0] Batching and saving trajectory data for house_2332: 1 episodes	[pipeline.py: 233]
+05/25 16:01:47 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:01:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:01:52 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2332	[save_utils.py: 703]
+05/25 16:01:52 INFO: [Worker 0] Successfully saved trajectory data for house_2332 in 4.54s (batch: 4.24s, save: 0.30s)	[pipeline.py: 280]
+05/25 16:01:53 WARNING: [Worker 0] No trajectory data to save for house_2332	[pipeline.py: 229]
+05/25 16:01:53 INFO: [Worker 0] Worker 0 completed house 2332: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:01:53 INFO: [Worker 0] Worker 0 starting house 2379 (index 40/111)	[pipeline.py: 473]
+05/25 16:01:53 INFO: [Worker 0] Loaded 1 episodes for house 2379 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_01	[json_eval_runner.py: 278]
+05/25 16:01:53 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 16:01:56 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_5	[json_eval_task_sampler.py: 648]
+05/25 16:01:56 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/27dd012c10e64049b8ca900fe86f077f	[json_eval_task_sampler.py: 648]
+05/25 16:01:56 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/93ef7da87b1e43fbb47f3b26b927f777	[json_eval_task_sampler.py: 648]
+05/25 16:02:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2379_ceiling.xml	[task_sampler.py: 797]
+05/25 16:02:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2379, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:02:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:02:02 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects	[json_eval_task_sampler.py: 686]
+05/25 16:02:02 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:02:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:02:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:02:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:02:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:02:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:02:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:02:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:02:02 INFO: [Worker 0] Sampled task 'Pick up the gaming mouse and place it in or on the white ceramic bowl with chicken salad'	[task_sampler.py: 1136]
+05/25 16:02:02 INFO: [Worker 0] Worker 0 house 2379 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:02:02 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:02:03 WARNING: [Worker 0] Could not find object objaathleticshoe_ca96a7e8c7cd4240b59985c10829d5a8_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:02:03 WARNING: [Worker 0] Could not find object objadecorativeartifact_b1b4c89f78cf4dbda524100885eab273_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:02:05 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 16:08:53 INFO: [Worker 0] Worker 0 house 2379 episode 0 object objagamingmouse_316a0da5fb1b49af92a51a6baf719098_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 16:08:57 INFO: [Worker 0] Batching and saving trajectory data for house_2379: 1 episodes	[pipeline.py: 233]
+05/25 16:08:57 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:09:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:09:00 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2379	[save_utils.py: 703]
+05/25 16:09:00 INFO: [Worker 0] Successfully saved trajectory data for house_2379 in 3.54s (batch: 3.40s, save: 0.14s)	[pipeline.py: 280]
+05/25 16:09:01 WARNING: [Worker 0] No trajectory data to save for house_2379	[pipeline.py: 229]
+05/25 16:09:01 INFO: [Worker 0] Worker 0 completed house 2379: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:09:01 INFO: [Worker 0] Worker 0 starting house 2414 (index 41/111)	[pipeline.py: 473]
+05/25 16:09:01 INFO: [Worker 0] Loaded 1 episodes for house 2414 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_01	[json_eval_runner.py: 278]
+05/25 16:09:01 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 16:09:02 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e9670b35612840bd92354dd8936d3c6a	[json_eval_task_sampler.py: 648]
+05/25 16:09:02 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/561e6757555049fca93f56e479f7cbe4	[json_eval_task_sampler.py: 648]
+05/25 16:09:02 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/21480103f9f44a52a5ee8bc37fb70bab	[json_eval_task_sampler.py: 648]
+05/25 16:09:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2414_ceiling.xml	[task_sampler.py: 797]
+05/25 16:09:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2414, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:09:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:09:06 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects	[json_eval_task_sampler.py: 686]
+05/25 16:09:06 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:09:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:09:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:09:06 INFO: [Worker 0] Sampled task 'Pick up the white decorative plaster mold with leaves and place it in or on the container'	[task_sampler.py: 1136]
+05/25 16:09:06 INFO: [Worker 0] Worker 0 house 2414 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:09:06 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:09:06 WARNING: [Worker 0] Could not find object atomizer_834d386e080077accc22e6eae5471528_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:09:06 WARNING: [Worker 0] Could not find object plate_68f8a63bec3f86098918929096742bec_1_0_7 in scene	[object_manager.py: 1238]
+05/25 16:09:08 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 16:13:54 INFO: [Worker 0] Worker 0 house 2414 episode 0 object objadecorativemold_148f80486ea04f9a873fb212e98f87ae_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 16:13:58 INFO: [Worker 0] Batching and saving trajectory data for house_2414: 1 episodes	[pipeline.py: 233]
+05/25 16:13:58 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:14:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:14:00 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2414	[save_utils.py: 703]
+05/25 16:14:00 INFO: [Worker 0] Successfully saved trajectory data for house_2414 in 2.84s (batch: 2.72s, save: 0.12s)	[pipeline.py: 280]
+05/25 16:14:01 WARNING: [Worker 0] No trajectory data to save for house_2414	[pipeline.py: 229]
+05/25 16:14:01 INFO: [Worker 0] Worker 0 completed house 2414: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:14:01 INFO: [Worker 0] Worker 0 starting house 2462 (index 42/111)	[pipeline.py: 473]
+05/25 16:14:01 INFO: [Worker 0] Loaded 1 episodes for house 2462 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_01	[json_eval_runner.py: 278]
+05/25 16:14:01 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 16:14:02 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/c7df0f7671d34fb9817d37067072f9ab	[json_eval_task_sampler.py: 648]
+05/25 16:14:02 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1df7263c6e094645987c61c5d60e67d5	[json_eval_task_sampler.py: 648]
+05/25 16:14:02 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/63211cbfb48044bcbdbbd30a3aa3bb75	[json_eval_task_sampler.py: 648]
+05/25 16:14:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2462_ceiling.xml	[task_sampler.py: 797]
+05/25 16:14:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2462, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:14:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:14:05 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects	[json_eval_task_sampler.py: 686]
+05/25 16:14:05 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:14:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:14:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:14:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:14:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:14:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:14:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:14:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:14:05 INFO: [Worker 0] Sampled task 'Pick up the headset and place it in or on the frosted glass bowl'	[task_sampler.py: 1136]
+05/25 16:14:05 INFO: [Worker 0] Worker 0 house 2462 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:14:05 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:14:05 WARNING: [Worker 0] Could not find object objadecorativesymbol_9a0a54db263b4f1a8cdeed4187e70869_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:14:05 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:19:29 INFO: [Worker 0] Worker 0 house 2462 episode 0 object objaheadphones_65801e1f7a9b497a8e070bf35e9bb5eb_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 16:19:33 INFO: [Worker 0] Batching and saving trajectory data for house_2462: 1 episodes	[pipeline.py: 233]
+05/25 16:19:34 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:19:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:19:37 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2462	[save_utils.py: 703]
+05/25 16:19:37 INFO: [Worker 0] Successfully saved trajectory data for house_2462 in 3.06s (batch: 2.93s, save: 0.13s)	[pipeline.py: 280]
+05/25 16:19:37 WARNING: [Worker 0] No trajectory data to save for house_2462	[pipeline.py: 229]
+05/25 16:19:37 INFO: [Worker 0] Worker 0 completed house 2462: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:19:37 INFO: [Worker 0] Worker 0 starting house 2474 (index 43/111)	[pipeline.py: 473]
+05/25 16:19:37 INFO: [Worker 0] Loaded 2 episodes for house 2474 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_01	[json_eval_runner.py: 278]
+05/25 16:19:37 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 16:19:41 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_27	[json_eval_task_sampler.py: 648]
+05/25 16:19:41 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/408b385373564c16acda3224de7d2ec6	[json_eval_task_sampler.py: 648]
+05/25 16:19:41 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_7	[json_eval_task_sampler.py: 648]
+05/25 16:19:42 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 16:19:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2474_ceiling.xml	[task_sampler.py: 797]
+05/25 16:19:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2474, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:19:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:19:47 INFO: [Worker 0] randomize_scene: Setting poses for 109 objects	[json_eval_task_sampler.py: 686]
+05/25 16:19:47 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:19:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:19:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:19:48 INFO: [Worker 0] Sampled task 'Pick up the purple rectangular package with cigar image and place it in or on the ceramic bowl'	[task_sampler.py: 1136]
+05/25 16:19:48 INFO: [Worker 0] Worker 0 house 2474 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 16:19:48 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:19:48 WARNING: [Worker 0] Could not find object objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:19:48 WARNING: [Worker 0] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_6 in scene	[object_manager.py: 1238]
+05/25 16:21:56 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 16:27:03 INFO: [Worker 0] Worker 0 house 2474 episode 0 object objacigarpackage_067c20f608d34132a69a8116f4466e38_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 16:27:06 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 16:27:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_27	[json_eval_task_sampler.py: 648]
+05/25 16:27:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/408b385373564c16acda3224de7d2ec6	[json_eval_task_sampler.py: 648]
+05/25 16:27:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_7	[json_eval_task_sampler.py: 648]
+05/25 16:27:10 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 16:27:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2474_ceiling.xml	[task_sampler.py: 797]
+05/25 16:27:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2474, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:27:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:27:16 INFO: [Worker 0] randomize_scene: Setting poses for 109 objects	[json_eval_task_sampler.py: 686]
+05/25 16:27:16 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:27:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:27:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:27:16 INFO: [Worker 0] Sampled task 'Pick up the light rectangular amulet with seated figure and place it in or on the glossy translucent light blue bowl'	[task_sampler.py: 1136]
+05/25 16:27:16 INFO: [Worker 0] Worker 0 house 2474 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 16:27:16 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:27:17 WARNING: [Worker 0] Could not find object objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:27:17 WARNING: [Worker 0] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_6 in scene	[object_manager.py: 1238]
+05/25 16:29:56 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 16:36:24 INFO: [Worker 0] Worker 0 house 2474 episode 1 object objaamulet_ce4443cc64e94facb38150f2b6687597_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 16:36:30 INFO: [Worker 0] Batching and saving trajectory data for house_2474: 2 episodes	[pipeline.py: 233]
+05/25 16:36:30 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:36:34 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:36:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:36:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:36:38 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2474	[save_utils.py: 703]
+05/25 16:36:38 INFO: [Worker 0] Successfully saved trajectory data for house_2474 in 8.06s (batch: 7.68s, save: 0.39s)	[pipeline.py: 280]
+05/25 16:36:39 WARNING: [Worker 0] No trajectory data to save for house_2474	[pipeline.py: 229]
+05/25 16:36:39 INFO: [Worker 0] Worker 0 completed house 2474: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 16:36:39 INFO: [Worker 0] Worker 0 starting house 2519 (index 44/111)	[pipeline.py: 473]
+05/25 16:36:39 INFO: [Worker 0] Loaded 1 episodes for house 2519 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_01	[json_eval_runner.py: 278]
+05/25 16:36:39 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 16:36:44 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/977c0bb0114e4728b7c6ccb89da913ec	[json_eval_task_sampler.py: 648]
+05/25 16:36:44 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/496bd9f05a714e608a41a24b169937f6	[json_eval_task_sampler.py: 648]
+05/25 16:36:44 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e9670b35612840bd92354dd8936d3c6a	[json_eval_task_sampler.py: 648]
+05/25 16:36:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2519_ceiling.xml	[task_sampler.py: 797]
+05/25 16:36:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2519, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:36:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:36:51 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects	[json_eval_task_sampler.py: 686]
+05/25 16:36:51 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:36:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:36:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:36:51 INFO: [Worker 0] Sampled task 'Pick up the green and yellow sponge and place it in or on the golden ornate decorative bowl'	[task_sampler.py: 1136]
+05/25 16:36:51 INFO: [Worker 0] Worker 0 house 2519 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:36:51 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:42:27 INFO: [Worker 0] Worker 0 house 2519 episode 0 object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 16:42:31 INFO: [Worker 0] Batching and saving trajectory data for house_2519: 1 episodes	[pipeline.py: 233]
+05/25 16:42:31 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:42:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:42:34 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2519	[save_utils.py: 703]
+05/25 16:42:34 INFO: [Worker 0] Successfully saved trajectory data for house_2519 in 3.23s (batch: 3.07s, save: 0.16s)	[pipeline.py: 280]
+05/25 16:42:35 WARNING: [Worker 0] No trajectory data to save for house_2519	[pipeline.py: 229]
+05/25 16:42:35 INFO: [Worker 0] Worker 0 completed house 2519: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:42:35 INFO: [Worker 0] Worker 0 starting house 2548 (index 45/111)	[pipeline.py: 473]
+05/25 16:42:35 INFO: [Worker 0] Loaded 1 episodes for house 2548 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_01	[json_eval_runner.py: 278]
+05/25 16:42:35 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 16:42:36 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d792e36c80784b53b987c84e304481a9	[json_eval_task_sampler.py: 648]
+05/25 16:42:36 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/472cceee5a224ff6933e7baf31d16641	[json_eval_task_sampler.py: 648]
+05/25 16:42:36 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/12ca824c9c81470d994ceccb4b5a9061	[json_eval_task_sampler.py: 648]
+05/25 16:42:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2548_ceiling.xml	[task_sampler.py: 797]
+05/25 16:42:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2548, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:42:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:42:39 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects	[json_eval_task_sampler.py: 686]
+05/25 16:42:39 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:42:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:42:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:42:39 INFO: [Worker 0] Sampled task 'Pick up the yellow bubble tea cup with straw and place it in or on the round shallow rustic clay bowl'	[task_sampler.py: 1136]
+05/25 16:42:39 INFO: [Worker 0] Worker 0 house 2548 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:42:39 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:42:41 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 16:47:05 INFO: [Worker 0] Worker 0 house 2548 episode 0 object objabeveragecontainer_4448ae95b4d342adaba79359a10b443c_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 16:47:09 INFO: [Worker 0] Batching and saving trajectory data for house_2548: 1 episodes	[pipeline.py: 233]
+05/25 16:47:09 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:47:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:47:13 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2548	[save_utils.py: 703]
+05/25 16:47:13 INFO: [Worker 0] Successfully saved trajectory data for house_2548 in 3.53s (batch: 3.24s, save: 0.29s)	[pipeline.py: 280]
+05/25 16:47:14 WARNING: [Worker 0] No trajectory data to save for house_2548	[pipeline.py: 229]
+05/25 16:47:14 INFO: [Worker 0] Worker 0 completed house 2548: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:47:14 INFO: [Worker 0] Worker 0 starting house 2610 (index 46/111)	[pipeline.py: 473]
+05/25 16:47:14 INFO: [Worker 0] Loaded 1 episodes for house 2610 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_01	[json_eval_runner.py: 278]
+05/25 16:47:14 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 16:47:17 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/44f5be7685c1439c85cf9bc36e78578a	[json_eval_task_sampler.py: 648]
+05/25 16:47:18 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/DecorativeBox2	[json_eval_task_sampler.py: 648]
+05/25 16:47:18 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/53c885e05492439cace4cc626fec00cc	[json_eval_task_sampler.py: 648]
+05/25 16:47:18 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 16:47:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2610_ceiling.xml	[task_sampler.py: 797]
+05/25 16:47:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2610, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:47:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:47:24 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects	[json_eval_task_sampler.py: 686]
+05/25 16:47:24 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:47:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:47:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:47:24 INFO: [Worker 0] Sampled task 'Pick up the small gold dog statue and place it in or on the dark teal box'	[task_sampler.py: 1136]
+05/25 16:47:24 INFO: [Worker 0] Worker 0 house 2610 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:47:24 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:47:25 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:47:27 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 16:52:49 INFO: [Worker 0] Worker 0 house 2610 episode 0 object statue_d0357892bc2a737e4da2f5a294c60c5e_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 16:52:55 INFO: [Worker 0] Batching and saving trajectory data for house_2610: 1 episodes	[pipeline.py: 233]
+05/25 16:52:55 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:52:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:52:58 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2610	[save_utils.py: 703]
+05/25 16:52:58 INFO: [Worker 0] Successfully saved trajectory data for house_2610 in 3.57s (batch: 3.38s, save: 0.19s)	[pipeline.py: 280]
+05/25 16:52:59 WARNING: [Worker 0] No trajectory data to save for house_2610	[pipeline.py: 229]
+05/25 16:52:59 INFO: [Worker 0] Worker 0 completed house 2610: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:52:59 INFO: [Worker 0] Worker 0 starting house 2619 (index 47/111)	[pipeline.py: 473]
+05/25 16:52:59 INFO: [Worker 0] Loaded 2 episodes for house 2619 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_01	[json_eval_runner.py: 278]
+05/25 16:52:59 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 16:53:01 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_4	[json_eval_task_sampler.py: 648]
+05/25 16:53:01 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/f8b3d867de194e6cb587c89d54ed8f0e	[json_eval_task_sampler.py: 648]
+05/25 16:53:01 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0564efdff76649c48c0c41b49dd6a25e	[json_eval_task_sampler.py: 648]
+05/25 16:53:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2619_ceiling.xml	[task_sampler.py: 797]
+05/25 16:53:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2619, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:53:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:53:07 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects	[json_eval_task_sampler.py: 686]
+05/25 16:53:07 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:53:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:53:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:53:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:53:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:53:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:53:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:53:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:53:07 INFO: [Worker 0] Sampled task 'Pick up the sandal with white strap and ornaments and place it in or on the rustic round gray clay bowl'	[task_sampler.py: 1136]
+05/25 16:53:07 INFO: [Worker 0] Worker 0 house 2619 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 16:53:08 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:53:08 WARNING: [Worker 0] Could not find object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_7 in scene	[object_manager.py: 1238]
+05/25 16:53:08 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_7 in scene	[object_manager.py: 1238]
+05/25 16:55:10 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 17:02:35 INFO: [Worker 0] Worker 0 house 2619 episode 0 object objasandal_48b073d405e5472d9fd7e0dbe45c973e_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 17:02:39 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 17:02:40 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_4	[json_eval_task_sampler.py: 648]
+05/25 17:02:40 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/f8b3d867de194e6cb587c89d54ed8f0e	[json_eval_task_sampler.py: 648]
+05/25 17:02:40 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0564efdff76649c48c0c41b49dd6a25e	[json_eval_task_sampler.py: 648]
+05/25 17:02:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2619_ceiling.xml	[task_sampler.py: 797]
+05/25 17:02:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2619, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:02:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:02:45 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects	[json_eval_task_sampler.py: 686]
+05/25 17:02:45 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:02:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:02:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:02:45 INFO: [Worker 0] Sampled task 'Pick up the ginger root and place it in or on the rustic round gray bowl'	[task_sampler.py: 1136]
+05/25 17:02:45 INFO: [Worker 0] Worker 0 house 2619 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 17:02:45 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:02:45 WARNING: [Worker 0] Could not find object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_7 in scene	[object_manager.py: 1238]
+05/25 17:02:45 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_7 in scene	[object_manager.py: 1238]
+05/25 17:12:37 INFO: [Worker 0] Worker 0 house 2619 episode 1 object objagingerroot_3feb051092c64c43b4ff80f37a262a21_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 17:12:41 INFO: [Worker 0] Batching and saving trajectory data for house_2619: 2 episodes	[pipeline.py: 233]
+05/25 17:12:41 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:12:44 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:12:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:12:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:12:47 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2619	[save_utils.py: 703]
+05/25 17:12:47 INFO: [Worker 0] Successfully saved trajectory data for house_2619 in 5.76s (batch: 5.50s, save: 0.25s)	[pipeline.py: 280]
+05/25 17:12:48 WARNING: [Worker 0] No trajectory data to save for house_2619	[pipeline.py: 229]
+05/25 17:12:48 INFO: [Worker 0] Worker 0 completed house 2619: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 17:12:48 INFO: [Worker 0] Worker 0 starting house 2643 (index 48/111)	[pipeline.py: 473]
+05/25 17:12:48 INFO: [Worker 0] Loaded 1 episodes for house 2643 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_01	[json_eval_runner.py: 278]
+05/25 17:12:48 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 17:12:49 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e11475635c464216a2213d65c45a319a	[json_eval_task_sampler.py: 648]
+05/25 17:12:49 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ac3628478f6c4042a16e77d6753fa413	[json_eval_task_sampler.py: 648]
+05/25 17:12:49 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4351af051964283968b5fed441ee844	[json_eval_task_sampler.py: 648]
+05/25 17:12:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2643_ceiling.xml	[task_sampler.py: 797]
+05/25 17:12:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2643, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:12:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:12:51 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects	[json_eval_task_sampler.py: 686]
+05/25 17:12:51 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:12:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:12:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:12:51 INFO: [Worker 0] Sampled task 'Pick up the white connector with multiple yellow wires and place it in or on the earthy rustic bowl with wear'	[task_sampler.py: 1136]
+05/25 17:12:51 INFO: [Worker 0] Worker 0 house 2643 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:12:52 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:12:53 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 17:18:38 INFO: [Worker 0] Worker 0 house 2643 episode 0 object objaelectricalconnector_e55fbf1db52c4c99b680d800424b851b_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 17:18:42 INFO: [Worker 0] Batching and saving trajectory data for house_2643: 1 episodes	[pipeline.py: 233]
+05/25 17:18:42 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:18:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:18:44 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2643	[save_utils.py: 703]
+05/25 17:18:44 INFO: [Worker 0] Successfully saved trajectory data for house_2643 in 2.73s (batch: 2.61s, save: 0.11s)	[pipeline.py: 280]
+05/25 17:18:45 WARNING: [Worker 0] No trajectory data to save for house_2643	[pipeline.py: 229]
+05/25 17:18:45 INFO: [Worker 0] Worker 0 completed house 2643: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:18:45 INFO: [Worker 0] Worker 0 starting house 2715 (index 49/111)	[pipeline.py: 473]
+05/25 17:18:45 INFO: [Worker 0] Loaded 1 episodes for house 2715 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_01	[json_eval_runner.py: 278]
+05/25 17:18:45 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 17:18:47 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0	[json_eval_task_sampler.py: 648]
+05/25 17:18:47 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1e23d9b649a643528ce00de750e858de	[json_eval_task_sampler.py: 648]
+05/25 17:18:47 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b8cba8b5a69543ce9875c40028261490	[json_eval_task_sampler.py: 648]
+05/25 17:18:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2715_ceiling.xml	[task_sampler.py: 797]
+05/25 17:18:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2715, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:18:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:18:51 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects	[json_eval_task_sampler.py: 686]
+05/25 17:18:51 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:18:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:18:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:18:51 INFO: [Worker 0] Sampled task 'Pick up the wooden sculpting tool and place it in or on the shallow beige ceramic bowl'	[task_sampler.py: 1136]
+05/25 17:18:51 INFO: [Worker 0] Worker 0 house 2715 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:18:52 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:28:00 INFO: [Worker 0] Worker 0 house 2715 episode 0 object objasculptingtool_8c3e2a407325442ab7a4607b01c21153_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 17:28:05 INFO: [Worker 0] Batching and saving trajectory data for house_2715: 1 episodes	[pipeline.py: 233]
+05/25 17:28:05 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:28:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:28:09 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2715	[save_utils.py: 703]
+05/25 17:28:09 INFO: [Worker 0] Successfully saved trajectory data for house_2715 in 3.96s (batch: 3.72s, save: 0.23s)	[pipeline.py: 280]
+05/25 17:28:10 WARNING: [Worker 0] No trajectory data to save for house_2715	[pipeline.py: 229]
+05/25 17:28:10 INFO: [Worker 0] Worker 0 completed house 2715: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:28:10 INFO: [Worker 0] Worker 0 starting house 2770 (index 50/111)	[pipeline.py: 473]
+05/25 17:28:10 INFO: [Worker 0] Loaded 1 episodes for house 2770 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_01	[json_eval_runner.py: 278]
+05/25 17:28:10 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 17:28:15 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/977c0bb0114e4728b7c6ccb89da913ec	[json_eval_task_sampler.py: 648]
+05/25 17:28:15 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ac2b50d2542c4f458b4ea404b8ed5e4b	[json_eval_task_sampler.py: 648]
+05/25 17:28:15 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_23	[json_eval_task_sampler.py: 648]
+05/25 17:28:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2770_ceiling.xml	[task_sampler.py: 797]
+05/25 17:28:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2770, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:28:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:28:22 INFO: [Worker 0] randomize_scene: Setting poses for 94 objects	[json_eval_task_sampler.py: 686]
+05/25 17:28:22 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:28:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:28:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:28:22 INFO: [Worker 0] Sampled task 'Pick up the cellphone and place it in or on the rectangular shallow glossy ceramic dish'	[task_sampler.py: 1136]
+05/25 17:28:22 INFO: [Worker 0] Worker 0 house 2770 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:28:23 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:35:20 INFO: [Worker 0] Worker 0 house 2770 episode 0 object objamobilephone_7f658554a3854ce28cae876c2a3fafd4_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 17:35:24 INFO: [Worker 0] Batching and saving trajectory data for house_2770: 1 episodes	[pipeline.py: 233]
+05/25 17:35:24 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:35:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:35:27 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2770	[save_utils.py: 703]
+05/25 17:35:27 INFO: [Worker 0] Successfully saved trajectory data for house_2770 in 3.01s (batch: 2.89s, save: 0.11s)	[pipeline.py: 280]
+05/25 17:35:28 WARNING: [Worker 0] No trajectory data to save for house_2770	[pipeline.py: 229]
+05/25 17:35:28 INFO: [Worker 0] Worker 0 completed house 2770: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:35:28 INFO: [Worker 0] Worker 0 starting house 2800 (index 51/111)	[pipeline.py: 473]
+05/25 17:35:28 INFO: [Worker 0] Loaded 1 episodes for house 2800 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_01	[json_eval_runner.py: 278]
+05/25 17:35:28 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 17:35:32 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/27dd012c10e64049b8ca900fe86f077f	[json_eval_task_sampler.py: 648]
+05/25 17:35:32 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1e23d9b649a643528ce00de750e858de	[json_eval_task_sampler.py: 648]
+05/25 17:35:32 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/f486de07c6f347588bcd3d22456f328d	[json_eval_task_sampler.py: 648]
+05/25 17:35:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2800_ceiling.xml	[task_sampler.py: 797]
+05/25 17:35:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2800, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:35:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:35:35 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects	[json_eval_task_sampler.py: 686]
+05/25 17:35:35 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:35:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:35:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:35:35 INFO: [Worker 0] Sampled task 'Pick up the jagged white marble piece with veins and place it in or on the rustic ceramic bowl'	[task_sampler.py: 1136]
+05/25 17:35:35 INFO: [Worker 0] Worker 0 house 2800 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:35:35 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:37:42 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 17:42:34 INFO: [Worker 0] Worker 0 house 2800 episode 0 object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 17:42:38 INFO: [Worker 0] Batching and saving trajectory data for house_2800: 1 episodes	[pipeline.py: 233]
+05/25 17:42:38 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:42:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:42:42 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2800	[save_utils.py: 703]
+05/25 17:42:42 INFO: [Worker 0] Successfully saved trajectory data for house_2800 in 3.57s (batch: 3.41s, save: 0.16s)	[pipeline.py: 280]
+05/25 17:42:43 WARNING: [Worker 0] No trajectory data to save for house_2800	[pipeline.py: 229]
+05/25 17:42:43 INFO: [Worker 0] Worker 0 completed house 2800: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:42:43 INFO: [Worker 0] Worker 0 starting house 2861 (index 52/111)	[pipeline.py: 473]
+05/25 17:42:43 INFO: [Worker 0] Loaded 1 episodes for house 2861 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_01	[json_eval_runner.py: 278]
+05/25 17:42:43 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 17:42:48 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/24464015c15b4662a32be7625ae3f75b	[json_eval_task_sampler.py: 648]
+05/25 17:42:48 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5f6ab8152ec9440e9b922def5ae8b8b2	[json_eval_task_sampler.py: 648]
+05/25 17:42:48 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4e33154ce3a40e4bd2b34f8de4f548c	[json_eval_task_sampler.py: 648]
+05/25 17:42:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2861_ceiling.xml	[task_sampler.py: 797]
+05/25 17:42:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2861, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:42:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:42:52 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects	[json_eval_task_sampler.py: 686]
+05/25 17:42:52 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:42:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:42:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:42:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:42:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:42:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:42:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:42:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:42:52 INFO: [Worker 0] Sampled task 'Pick up the emblem and place it in or on the glossy bowl with rice'	[task_sampler.py: 1136]
+05/25 17:42:52 INFO: [Worker 0] Worker 0 house 2861 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:42:52 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:42:53 WARNING: [Worker 0] Could not find object objasoap_bc2d6e60f6ac4eccb55eb9026925c617_1_0_5 in scene	[object_manager.py: 1238]
+05/25 17:42:53 WARNING: [Worker 0] Could not find object objarocketmodel_0426922358b4444f9887bcd551d3a5cb_1_0_7 in scene	[object_manager.py: 1238]
+05/25 17:42:53 WARNING: [Worker 0] Could not find object plate_ac19ca22ae10d8179cdc8dc68e02072d_1_0_7 in scene	[object_manager.py: 1238]
+05/25 17:50:24 INFO: [Worker 0] Worker 0 house 2861 episode 0 object objabadge_7a552ea892ef4891890ee98ad3c99cdd_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 17:50:28 INFO: [Worker 0] Batching and saving trajectory data for house_2861: 1 episodes	[pipeline.py: 233]
+05/25 17:50:28 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:50:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:50:32 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2861	[save_utils.py: 703]
+05/25 17:50:32 INFO: [Worker 0] Successfully saved trajectory data for house_2861 in 3.13s (batch: 3.01s, save: 0.12s)	[pipeline.py: 280]
+05/25 17:50:32 WARNING: [Worker 0] No trajectory data to save for house_2861	[pipeline.py: 229]
+05/25 17:50:32 INFO: [Worker 0] Worker 0 completed house 2861: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:50:32 INFO: [Worker 0] Worker 0 starting house 2936 (index 53/111)	[pipeline.py: 473]
+05/25 17:50:32 INFO: [Worker 0] Loaded 1 episodes for house 2936 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_01	[json_eval_runner.py: 278]
+05/25 17:50:32 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 17:50:43 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_21	[json_eval_task_sampler.py: 648]
+05/25 17:50:43 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/8c419f6d0cbc4580a2e2b9d273969b97	[json_eval_task_sampler.py: 648]
+05/25 17:50:43 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/f9561598da77463f9eb6fecd4bc301b5	[json_eval_task_sampler.py: 648]
+05/25 17:50:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2936_ceiling.xml	[task_sampler.py: 797]
+05/25 17:50:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2936, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:50:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:50:47 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects	[json_eval_task_sampler.py: 686]
+05/25 17:50:47 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:50:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:50:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:50:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:50:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:50:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:50:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:50:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:50:47 INFO: [Worker 0] Sampled task 'Pick up the black digital camcorder and place it in or on the simple light brown ceramic bowl'	[task_sampler.py: 1136]
+05/25 17:50:47 INFO: [Worker 0] Worker 0 house 2936 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:50:48 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:50:48 WARNING: [Worker 0] Could not find object objaaerosolcan_211e925eaa5c49a2b9216d785413cc2a_1_0_7 in scene	[object_manager.py: 1238]
+05/25 17:53:26 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 17:58:17 INFO: [Worker 0] Worker 0 house 2936 episode 0 object objacamcorder_eab027b0d7e441b5ba19577f52dbbc83_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 17:58:23 INFO: [Worker 0] Batching and saving trajectory data for house_2936: 1 episodes	[pipeline.py: 233]
+05/25 17:58:23 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:58:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:58:27 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2936	[save_utils.py: 703]
+05/25 17:58:27 INFO: [Worker 0] Successfully saved trajectory data for house_2936 in 3.92s (batch: 3.63s, save: 0.28s)	[pipeline.py: 280]
+05/25 17:58:28 WARNING: [Worker 0] No trajectory data to save for house_2936	[pipeline.py: 229]
+05/25 17:58:28 INFO: [Worker 0] Worker 0 completed house 2936: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:58:28 INFO: [Worker 0] Worker 0 starting house 3000 (index 54/111)	[pipeline.py: 473]
+05/25 17:58:28 INFO: [Worker 0] Loaded 1 episodes for house 3000 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_01	[json_eval_runner.py: 278]
+05/25 17:58:28 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 17:58:38 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_13	[json_eval_task_sampler.py: 648]
+05/25 17:58:38 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1ef337c5cfda4d368ceb154c0e9fae0e	[json_eval_task_sampler.py: 648]
+05/25 17:58:38 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bf83213efac34b3cb2ad6ac5ddaf05d9	[json_eval_task_sampler.py: 648]
+05/25 17:58:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3000_ceiling.xml	[task_sampler.py: 797]
+05/25 17:58:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3000, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:58:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:58:41 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects	[json_eval_task_sampler.py: 686]
+05/25 17:58:41 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:58:41 INFO: [Worker 0] Sampled task 'Pick up the black vintage sony cassette recorder and place it in or on the blue patterned bowl'	[task_sampler.py: 1136]
+05/25 17:58:41 INFO: [Worker 0] Worker 0 house 3000 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:58:41 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:08:26 INFO: [Worker 0] Worker 0 house 3000 episode 0 object objacassetterecorder_aa2e82ca23cc415897fe66c9a3f5a3ba_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 18:08:30 INFO: [Worker 0] Batching and saving trajectory data for house_3000: 1 episodes	[pipeline.py: 233]
+05/25 18:08:30 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:08:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:08:34 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3000	[save_utils.py: 703]
+05/25 18:08:34 INFO: [Worker 0] Successfully saved trajectory data for house_3000 in 3.37s (batch: 3.19s, save: 0.19s)	[pipeline.py: 280]
+05/25 18:08:34 WARNING: [Worker 0] No trajectory data to save for house_3000	[pipeline.py: 229]
+05/25 18:08:34 INFO: [Worker 0] Worker 0 completed house 3000: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 18:08:34 INFO: [Worker 0] Worker 0 starting house 3006 (index 55/111)	[pipeline.py: 473]
+05/25 18:08:34 INFO: [Worker 0] Loaded 2 episodes for house 3006 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_01	[json_eval_runner.py: 278]
+05/25 18:08:34 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 18:08:50 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d8bcf6509a5d40378f2baec03bf551a5	[json_eval_task_sampler.py: 648]
+05/25 18:08:50 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5efb7a6940894b5a835b4de2f3cf1559	[json_eval_task_sampler.py: 648]
+05/25 18:08:50 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/71c1d24834ca4725963d69d5bb0a5011	[json_eval_task_sampler.py: 648]
+05/25 18:08:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3006_ceiling.xml	[task_sampler.py: 797]
+05/25 18:08:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3006, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 18:08:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 18:08:56 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects	[json_eval_task_sampler.py: 686]
+05/25 18:08:56 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 18:08:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 18:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 18:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 18:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 18:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 18:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 18:08:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 18:08:56 INFO: [Worker 0] Sampled task 'Pick up the green headed duck decoy and place it in or on the olive green military ammunition box'	[task_sampler.py: 1136]
+05/25 18:08:56 INFO: [Worker 0] Worker 0 house 3006 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 18:08:56 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:16:26 INFO: [Worker 0] Worker 0 house 3006 episode 0 object objaduckdecoy_ac35272044694eb9a97fb038ed26b8b5_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 18:16:31 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 18:16:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d8bcf6509a5d40378f2baec03bf551a5	[json_eval_task_sampler.py: 648]
+05/25 18:16:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5efb7a6940894b5a835b4de2f3cf1559	[json_eval_task_sampler.py: 648]
+05/25 18:16:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/71c1d24834ca4725963d69d5bb0a5011	[json_eval_task_sampler.py: 648]
+05/25 18:16:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3006_ceiling.xml	[task_sampler.py: 797]
+05/25 18:16:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3006, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 18:16:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 18:16:40 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects	[json_eval_task_sampler.py: 686]
+05/25 18:16:40 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 18:16:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 18:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 18:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 18:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 18:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 18:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 18:16:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 18:16:40 INFO: [Worker 0] Sampled task 'Pick up the blue vintage portable radio with handle and place it in or on the green military box'	[task_sampler.py: 1136]
+05/25 18:16:40 INFO: [Worker 0] Worker 0 house 3006 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 18:16:40 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:28:30 INFO: [Worker 0] Worker 0 house 3006 episode 1 object objaportableradio_4ce29893e26c4f9f9495708b6962f965_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 18:28:34 INFO: [Worker 0] Batching and saving trajectory data for house_3006: 2 episodes	[pipeline.py: 233]
+05/25 18:28:34 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:28:38 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:28:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:28:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:28:42 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3006	[save_utils.py: 703]
+05/25 18:28:42 INFO: [Worker 0] Successfully saved trajectory data for house_3006 in 7.48s (batch: 7.12s, save: 0.36s)	[pipeline.py: 280]
+05/25 18:28:43 WARNING: [Worker 0] No trajectory data to save for house_3006	[pipeline.py: 229]
+05/25 18:28:43 INFO: [Worker 0] Worker 0 completed house 3006: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 18:28:43 INFO: [Worker 0] Worker 0 starting house 3077 (index 56/111)	[pipeline.py: 473]
+05/25 18:28:43 INFO: [Worker 0] Loaded 1 episodes for house 3077 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_01	[json_eval_runner.py: 278]
+05/25 18:28:43 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 18:28:50 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ac3628478f6c4042a16e77d6753fa413	[json_eval_task_sampler.py: 648]
+05/25 18:28:50 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/f8b3d867de194e6cb587c89d54ed8f0e	[json_eval_task_sampler.py: 648]
+05/25 18:28:50 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_28	[json_eval_task_sampler.py: 648]
+05/25 18:28:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3077_ceiling.xml	[task_sampler.py: 797]
+05/25 18:28:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3077, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 18:28:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 18:28:53 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects	[json_eval_task_sampler.py: 686]
+05/25 18:28:53 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 18:28:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 18:28:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 18:28:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 18:28:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 18:28:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 18:28:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 18:28:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 18:28:53 INFO: [Worker 0] Sampled task 'Pick up the yellow triangular badge with black symbol and place it in or on the rustic round gray clay bowl'	[task_sampler.py: 1136]
+05/25 18:28:53 INFO: [Worker 0] Worker 0 house 3077 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 18:28:53 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:31:35 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 18:36:53 INFO: [Worker 0] Worker 0 house 3077 episode 0 object objabadge_3bfdab46ec8f48698095e25176a58801_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 18:36:57 INFO: [Worker 0] Batching and saving trajectory data for house_3077: 1 episodes	[pipeline.py: 233]
+05/25 18:36:57 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:37:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:37:01 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3077	[save_utils.py: 703]
+05/25 18:37:01 INFO: [Worker 0] Successfully saved trajectory data for house_3077 in 3.64s (batch: 3.47s, save: 0.17s)	[pipeline.py: 280]
+05/25 18:37:02 WARNING: [Worker 0] No trajectory data to save for house_3077	[pipeline.py: 229]
+05/25 18:37:02 INFO: [Worker 0] Worker 0 completed house 3077: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 18:37:02 INFO: [Worker 0] Worker 0 starting house 3133 (index 57/111)	[pipeline.py: 473]
+05/25 18:37:02 INFO: [Worker 0] Loaded 1 episodes for house 3133 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_01	[json_eval_runner.py: 278]
+05/25 18:37:02 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]
+05/25 18:37:13 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_4	[json_eval_task_sampler.py: 648]
+05/25 18:37:13 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/7bf14a57ee5345689c3efd4bd1616466	[json_eval_task_sampler.py: 648]
+05/25 18:37:13 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7bcc0425058142c59255979a2b61f0d2	[json_eval_task_sampler.py: 648]
+05/25 18:37:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3133_ceiling.xml	[task_sampler.py: 797]
+05/25 18:37:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3133, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 18:37:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 18:37:17 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects	[json_eval_task_sampler.py: 686]
+05/25 18:37:17 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 18:37:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 18:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 18:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 18:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 18:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 18:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 18:37:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 18:37:17 INFO: [Worker 0] Sampled task 'Pick up the glossy black dog statue and place it in or on the medium dark metal cooking pot'	[task_sampler.py: 1136]
+05/25 18:37:17 INFO: [Worker 0] Worker 0 house 3133 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 18:37:18 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:40:12 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 18:48:39 INFO: [Worker 0] Worker 0 house 3133 episode 0 object statue_904dcacd60264237fc6f100aa873b50d_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 18:48:45 INFO: [Worker 0] Batching and saving trajectory data for house_3133: 1 episodes	[pipeline.py: 233]
+05/25 18:48:45 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:48:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:48:49 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3133	[save_utils.py: 703]
+05/25 18:48:49 INFO: [Worker 0] Successfully saved trajectory data for house_3133 in 4.74s (batch: 4.53s, save: 0.21s)	[pipeline.py: 280]
+05/25 18:48:50 WARNING: [Worker 0] No trajectory data to save for house_3133	[pipeline.py: 229]
+05/25 18:48:50 INFO: [Worker 0] Worker 0 completed house 3133: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 18:48:50 INFO: [Worker 0] Worker 0 starting house 3210 (index 58/111)	[pipeline.py: 473]
+05/25 18:48:50 INFO: [Worker 0] Loaded 1 episodes for house 3210 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_01	[json_eval_runner.py: 278]
+05/25 18:48:50 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]
+05/25 18:48:53 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_11	[json_eval_task_sampler.py: 648]
+05/25 18:48:53 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ac2b50d2542c4f458b4ea404b8ed5e4b	[json_eval_task_sampler.py: 648]
+05/25 18:48:53 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/591a76b35b094562b9dec8ffa5b77387	[json_eval_task_sampler.py: 648]
+05/25 18:48:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3210_ceiling.xml	[task_sampler.py: 797]
+05/25 18:48:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3210, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 18:48:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 18:48:57 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects	[json_eval_task_sampler.py: 686]
+05/25 18:48:57 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 18:48:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 18:48:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 18:48:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 18:48:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 18:48:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 18:48:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 18:48:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 18:48:57 INFO: [Worker 0] Sampled task 'Pick up the rustic wooden opener and place it in or on the rectangular glossy dish'	[task_sampler.py: 1136]
+05/25 18:48:57 INFO: [Worker 0] Worker 0 house 3210 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 18:48:57 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:48:57 WARNING: [Worker 0] Could not find object lettuce_64917cac887a2b1dfdd4eae99858f31a_1_0_6 in scene	[object_manager.py: 1238]
+05/25 18:59:45 INFO: [Worker 0] Worker 0 house 3210 episode 0 object objabottleopener_96bfa89422c5407190d34a02e15d3734_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 18:59:51 INFO: [Worker 0] Batching and saving trajectory data for house_3210: 1 episodes	[pipeline.py: 233]
+05/25 18:59:51 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:59:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:59:56 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3210	[save_utils.py: 703]
+05/25 18:59:56 INFO: [Worker 0] Successfully saved trajectory data for house_3210 in 5.29s (batch: 5.07s, save: 0.22s)	[pipeline.py: 280]
+05/25 18:59:57 WARNING: [Worker 0] No trajectory data to save for house_3210	[pipeline.py: 229]
+05/25 18:59:57 INFO: [Worker 0] Worker 0 completed house 3210: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 18:59:57 INFO: [Worker 0] Worker 0 starting house 3273 (index 59/111)	[pipeline.py: 473]
+05/25 18:59:57 INFO: [Worker 0] Loaded 1 episodes for house 3273 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_01	[json_eval_runner.py: 278]
+05/25 18:59:57 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 18:59:59 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/906fdc79f5d84e8e8b3b467e794a8c00	[json_eval_task_sampler.py: 648]
+05/25 18:59:59 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/08dd440442874c8e8ae35494b4aff0a2	[json_eval_task_sampler.py: 648]
+05/25 18:59:59 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0f5266888bc749ea916c69d88b375cbf	[json_eval_task_sampler.py: 648]
+05/25 19:00:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3273_ceiling.xml	[task_sampler.py: 797]
+05/25 19:00:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3273, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:00:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:00:04 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects	[json_eval_task_sampler.py: 686]
+05/25 19:00:04 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:00:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:00:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:00:04 INFO: [Worker 0] Sampled task 'Pick up the gold foil chocolate bunny with ribbon and place it in or on the ceramic bowl'	[task_sampler.py: 1136]
+05/25 19:00:04 INFO: [Worker 0] Worker 0 house 3273 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:00:05 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:02:53 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 19:10:22 INFO: [Worker 0] Worker 0 house 3273 episode 0 object objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 19:10:26 INFO: [Worker 0] Batching and saving trajectory data for house_3273: 1 episodes	[pipeline.py: 233]
+05/25 19:10:26 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:10:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:10:29 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3273	[save_utils.py: 703]
+05/25 19:10:29 INFO: [Worker 0] Successfully saved trajectory data for house_3273 in 2.86s (batch: 2.75s, save: 0.12s)	[pipeline.py: 280]
+05/25 19:10:30 WARNING: [Worker 0] No trajectory data to save for house_3273	[pipeline.py: 229]
+05/25 19:10:30 INFO: [Worker 0] Worker 0 completed house 3273: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:10:30 INFO: [Worker 0] Worker 0 starting house 3305 (index 60/111)	[pipeline.py: 473]
+05/25 19:10:30 INFO: [Worker 0] Loaded 1 episodes for house 3305 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_01	[json_eval_runner.py: 278]
+05/25 19:10:30 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 19:10:55 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_5	[json_eval_task_sampler.py: 648]
+05/25 19:10:55 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/7d2737e16fcf4d40bc549521ba6a2d02	[json_eval_task_sampler.py: 648]
+05/25 19:10:55 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4e33154ce3a40e4bd2b34f8de4f548c	[json_eval_task_sampler.py: 648]
+05/25 19:10:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3305_ceiling.xml	[task_sampler.py: 797]
+05/25 19:10:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3305, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:10:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:10:58 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects	[json_eval_task_sampler.py: 686]
+05/25 19:10:59 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:10:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:10:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:10:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:10:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:10:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:10:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:10:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:10:59 INFO: [Worker 0] Sampled task 'Pick up the small beige cylindrical plastic hinge and place it in or on the rustic bowl'	[task_sampler.py: 1136]
+05/25 19:10:59 INFO: [Worker 0] Worker 0 house 3305 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:10:59 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:12:29 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 19:18:24 INFO: [Worker 0] Worker 0 house 3305 episode 0 object objahinge_895a45f38d914113826237d647dcbc85_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 19:18:28 INFO: [Worker 0] Batching and saving trajectory data for house_3305: 1 episodes	[pipeline.py: 233]
+05/25 19:18:28 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:18:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:18:31 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3305	[save_utils.py: 703]
+05/25 19:18:31 INFO: [Worker 0] Successfully saved trajectory data for house_3305 in 3.11s (batch: 2.99s, save: 0.12s)	[pipeline.py: 280]
+05/25 19:18:32 WARNING: [Worker 0] No trajectory data to save for house_3305	[pipeline.py: 229]
+05/25 19:18:32 INFO: [Worker 0] Worker 0 completed house 3305: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:18:32 INFO: [Worker 0] Worker 0 starting house 3324 (index 61/111)	[pipeline.py: 473]
+05/25 19:18:32 INFO: [Worker 0] Loaded 1 episodes for house 3324 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_01	[json_eval_runner.py: 278]
+05/25 19:18:32 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 19:18:44 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_13	[json_eval_task_sampler.py: 648]
+05/25 19:18:44 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/521e5cb1802643d0bb7366e1f85c18a9	[json_eval_task_sampler.py: 648]
+05/25 19:18:44 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/423c9b6a27254a00aa283647a7e9b1ba	[json_eval_task_sampler.py: 648]
+05/25 19:18:44 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 19:18:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3324_ceiling.xml	[task_sampler.py: 797]
+05/25 19:18:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3324, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:18:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:18:47 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects	[json_eval_task_sampler.py: 686]
+05/25 19:18:47 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:18:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:18:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:18:48 INFO: [Worker 0] Sampled task 'Pick up the gray handheld radio with orange buttons and place it in or on the small rustic wooden storage box'	[task_sampler.py: 1136]
+05/25 19:18:48 INFO: [Worker 0] Worker 0 house 3324 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:18:48 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:18:48 WARNING: [Worker 0] Could not find object objadecorativeartifact_b1b4c89f78cf4dbda524100885eab273_1_0_5 in scene	[object_manager.py: 1238]
+05/25 19:18:48 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene	[object_manager.py: 1238]
+05/25 19:18:48 WARNING: [Worker 0] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_7 in scene	[object_manager.py: 1238]
+05/25 19:20:44 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 19:27:48 INFO: [Worker 0] Worker 0 house 3324 episode 0 object objacommunicationdevice_741180650c7d4c6682d59bc60fe9db8e_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 19:27:52 INFO: [Worker 0] Batching and saving trajectory data for house_3324: 1 episodes	[pipeline.py: 233]
+05/25 19:27:52 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:27:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:27:55 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3324	[save_utils.py: 703]
+05/25 19:27:55 INFO: [Worker 0] Successfully saved trajectory data for house_3324 in 3.43s (batch: 3.30s, save: 0.13s)	[pipeline.py: 280]
+05/25 19:27:56 WARNING: [Worker 0] No trajectory data to save for house_3324	[pipeline.py: 229]
+05/25 19:27:56 INFO: [Worker 0] Worker 0 completed house 3324: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:27:56 INFO: [Worker 0] Worker 0 starting house 3363 (index 62/111)	[pipeline.py: 473]
+05/25 19:27:56 INFO: [Worker 0] Loaded 1 episodes for house 3363 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_01	[json_eval_runner.py: 278]
+05/25 19:27:56 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 19:28:06 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_11	[json_eval_task_sampler.py: 648]
+05/25 19:28:06 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/9e167f4b5fcd446e8ff3c4ca5b257286	[json_eval_task_sampler.py: 648]
+05/25 19:28:06 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d02ed62181d942fc9a1527b49bc67b17	[json_eval_task_sampler.py: 648]
+05/25 19:28:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3363_ceiling.xml	[task_sampler.py: 797]
+05/25 19:28:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3363, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:28:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:28:10 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects	[json_eval_task_sampler.py: 686]
+05/25 19:28:10 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:28:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:28:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:28:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:28:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:28:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:28:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:28:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:28:10 INFO: [Worker 0] Sampled task 'Pick up the metal clamp with screw mechanism and place it in or on the rectangular ornate red box'	[task_sampler.py: 1136]
+05/25 19:28:10 INFO: [Worker 0] Worker 0 house 3363 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:28:10 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:35:06 INFO: [Worker 0] Worker 0 house 3363 episode 0 object objaclamp_a8cf28f7f414420f8a672a864425fd46_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 19:35:11 INFO: [Worker 0] Batching and saving trajectory data for house_3363: 1 episodes	[pipeline.py: 233]
+05/25 19:35:11 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:35:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:35:14 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3363	[save_utils.py: 703]
+05/25 19:35:14 INFO: [Worker 0] Successfully saved trajectory data for house_3363 in 3.50s (batch: 3.36s, save: 0.14s)	[pipeline.py: 280]
+05/25 19:35:15 WARNING: [Worker 0] No trajectory data to save for house_3363	[pipeline.py: 229]
+05/25 19:35:15 INFO: [Worker 0] Worker 0 completed house 3363: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:35:15 INFO: [Worker 0] Worker 0 starting house 3430 (index 63/111)	[pipeline.py: 473]
+05/25 19:35:15 INFO: [Worker 0] Loaded 1 episodes for house 3430 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_01	[json_eval_runner.py: 278]
+05/25 19:35:15 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]
+05/25 19:35:29 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1bac786df9e446a795e442a83f49056a	[json_eval_task_sampler.py: 648]
+05/25 19:35:29 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/63211cbfb48044bcbdbbd30a3aa3bb75	[json_eval_task_sampler.py: 648]
+05/25 19:35:29 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7754545bd7044b298506bb35b05578d5	[json_eval_task_sampler.py: 648]
+05/25 19:35:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3430_ceiling.xml	[task_sampler.py: 797]
+05/25 19:35:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3430, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:35:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:35:32 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects	[json_eval_task_sampler.py: 686]
+05/25 19:35:32 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:35:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:35:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:35:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:35:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:35:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:35:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:35:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:35:32 INFO: [Worker 0] Sampled task 'Pick up the worn turquoise can and place it in or on the white bowl with liquid soup'	[task_sampler.py: 1136]
+05/25 19:35:32 INFO: [Worker 0] Worker 0 house 3430 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:35:32 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:35:33 WARNING: [Worker 0] Could not find object box_5358700257a2427d72759d135597dc51_1_0_3 in scene	[object_manager.py: 1238]
+05/25 19:37:44 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 19:43:18 INFO: [Worker 0] Worker 0 house 3430 episode 0 object objafoodcan_7f5083c31b074cc3a08bf2bd4ef16591_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 19:43:23 INFO: [Worker 0] Batching and saving trajectory data for house_3430: 1 episodes	[pipeline.py: 233]
+05/25 19:43:23 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:43:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:43:27 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3430	[save_utils.py: 703]
+05/25 19:43:27 INFO: [Worker 0] Successfully saved trajectory data for house_3430 in 3.93s (batch: 3.69s, save: 0.24s)	[pipeline.py: 280]
+05/25 19:43:28 WARNING: [Worker 0] No trajectory data to save for house_3430	[pipeline.py: 229]
+05/25 19:43:28 INFO: [Worker 0] Worker 0 completed house 3430: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:43:28 INFO: [Worker 0] Worker 0 starting house 3473 (index 64/111)	[pipeline.py: 473]
+05/25 19:43:28 INFO: [Worker 0] Loaded 1 episodes for house 3473 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_01	[json_eval_runner.py: 278]
+05/25 19:43:28 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 19:43:31 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0	[json_eval_task_sampler.py: 648]
+05/25 19:43:31 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_9	[json_eval_task_sampler.py: 648]
+05/25 19:43:31 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/4bf7b7b26a704818b1ed3d703a11855b	[json_eval_task_sampler.py: 648]
+05/25 19:43:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3473_ceiling.xml	[task_sampler.py: 797]
+05/25 19:43:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3473, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:43:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:43:39 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects	[json_eval_task_sampler.py: 686]
+05/25 19:43:39 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:43:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:43:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:43:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:43:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:43:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:43:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:43:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:43:39 INFO: [Worker 0] Sampled task 'Pick up the green plastic mount with prongs and place it in or on the blue ceramic bowl'	[task_sampler.py: 1136]
+05/25 19:43:39 INFO: [Worker 0] Worker 0 house 3473 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:43:39 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:46:52 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 19:53:23 INFO: [Worker 0] Worker 0 house 3473 episode 0 object objamount_b44ed71003e149cc98576162a09d588c_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 19:53:27 INFO: [Worker 0] Batching and saving trajectory data for house_3473: 1 episodes	[pipeline.py: 233]
+05/25 19:53:27 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:53:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:53:30 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3473	[save_utils.py: 703]
+05/25 19:53:30 INFO: [Worker 0] Successfully saved trajectory data for house_3473 in 3.06s (batch: 2.90s, save: 0.16s)	[pipeline.py: 280]
+05/25 19:53:31 WARNING: [Worker 0] No trajectory data to save for house_3473	[pipeline.py: 229]
+05/25 19:53:31 INFO: [Worker 0] Worker 0 completed house 3473: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:53:31 INFO: [Worker 0] Worker 0 starting house 3510 (index 65/111)	[pipeline.py: 473]
+05/25 19:53:31 INFO: [Worker 0] Loaded 1 episodes for house 3510 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_01	[json_eval_runner.py: 278]
+05/25 19:53:31 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 19:53:34 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0cb14e8a04de4c39ac8714a98fba9883	[json_eval_task_sampler.py: 648]
+05/25 19:53:34 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/906fdc79f5d84e8e8b3b467e794a8c00	[json_eval_task_sampler.py: 648]
+05/25 19:53:34 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/50be4f8b8f744730878916aa38b0f08f	[json_eval_task_sampler.py: 648]
+05/25 19:53:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3510_ceiling.xml	[task_sampler.py: 797]
+05/25 19:53:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3510, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:53:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:53:37 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects	[json_eval_task_sampler.py: 686]
+05/25 19:53:38 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:53:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:53:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:53:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:53:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:53:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:53:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:53:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:53:38 INFO: [Worker 0] Sampled task 'Pick up the gray metal cylindrical shock absorber and place it in or on the brown wooden leaf tray'	[task_sampler.py: 1136]
+05/25 19:53:38 INFO: [Worker 0] Worker 0 house 3510 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:53:38 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:53:38 WARNING: [Worker 0] Could not find object objalighthouse_38f4ca24b0e94683b7becccda1b8f9ca_1_0_5 in scene	[object_manager.py: 1238]
+05/25 19:53:38 WARNING: [Worker 0] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_5 in scene	[object_manager.py: 1238]
+05/25 19:53:38 WARNING: [Worker 0] Could not find object objadecorativefishsculpture_cc5426d3090c4047a1e4d5aa38c95d7a_1_0_8 in scene	[object_manager.py: 1238]
+05/25 19:53:38 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_8 in scene	[object_manager.py: 1238]
+05/25 20:00:30 INFO: [Worker 0] Worker 0 house 3510 episode 0 object objashockabsorber_09418c0e952b4ccebedd650ef0acad24_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 20:00:34 INFO: [Worker 0] Batching and saving trajectory data for house_3510: 1 episodes	[pipeline.py: 233]
+05/25 20:00:34 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:00:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:00:38 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3510	[save_utils.py: 703]
+05/25 20:00:38 INFO: [Worker 0] Successfully saved trajectory data for house_3510 in 3.28s (batch: 3.06s, save: 0.22s)	[pipeline.py: 280]
+05/25 20:00:38 WARNING: [Worker 0] No trajectory data to save for house_3510	[pipeline.py: 229]
+05/25 20:00:38 INFO: [Worker 0] Worker 0 completed house 3510: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:00:38 INFO: [Worker 0] Worker 0 starting house 3514 (index 66/111)	[pipeline.py: 473]
+05/25 20:00:38 INFO: [Worker 0] Loaded 2 episodes for house 3514 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_01	[json_eval_runner.py: 278]
+05/25 20:00:38 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 20:00:39 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0cb14e8a04de4c39ac8714a98fba9883	[json_eval_task_sampler.py: 648]
+05/25 20:00:39 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/08dd440442874c8e8ae35494b4aff0a2	[json_eval_task_sampler.py: 648]
+05/25 20:00:39 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_12	[json_eval_task_sampler.py: 648]
+05/25 20:00:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3514_ceiling.xml	[task_sampler.py: 797]
+05/25 20:00:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3514, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:00:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:00:41 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects	[json_eval_task_sampler.py: 686]
+05/25 20:00:41 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:00:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:00:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:00:42 INFO: [Worker 0] Sampled task 'Pick up the black honeycomb wave structure and place it in or on the textured face bowl'	[task_sampler.py: 1136]
+05/25 20:00:42 INFO: [Worker 0] Worker 0 house 3514 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 20:00:42 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:14:14 INFO: [Worker 0] Worker 0 house 3514 episode 0 object objadecorativeelement_4b009fce74c64110b521f91692a4867f_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 20:14:21 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 20:14:23 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0cb14e8a04de4c39ac8714a98fba9883	[json_eval_task_sampler.py: 648]
+05/25 20:14:23 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/08dd440442874c8e8ae35494b4aff0a2	[json_eval_task_sampler.py: 648]
+05/25 20:14:23 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_12	[json_eval_task_sampler.py: 648]
+05/25 20:14:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3514_ceiling.xml	[task_sampler.py: 797]
+05/25 20:14:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3514, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:14:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:14:27 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects	[json_eval_task_sampler.py: 686]
+05/25 20:14:27 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:14:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:14:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:14:27 INFO: [Worker 0] Sampled task 'Pick up the green plastic package and place it in or on the patchwork ceramic bowl rustic'	[task_sampler.py: 1136]
+05/25 20:14:27 INFO: [Worker 0] Worker 0 house 3514 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 20:14:28 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:17:59 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 20:25:44 INFO: [Worker 0] Worker 0 house 3514 episode 1 object objasnackpackage_4b807308e65c4ecd85b8bb1cd5d8da4a_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 20:25:48 INFO: [Worker 0] Batching and saving trajectory data for house_3514: 2 episodes	[pipeline.py: 233]
+05/25 20:25:48 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:25:51 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:25:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:25:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:25:53 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3514	[save_utils.py: 703]
+05/25 20:25:53 INFO: [Worker 0] Successfully saved trajectory data for house_3514 in 5.43s (batch: 5.20s, save: 0.23s)	[pipeline.py: 280]
+05/25 20:25:54 WARNING: [Worker 0] No trajectory data to save for house_3514	[pipeline.py: 229]
+05/25 20:25:54 INFO: [Worker 0] Worker 0 completed house 3514: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 20:25:54 INFO: [Worker 0] Worker 0 starting house 3545 (index 67/111)	[pipeline.py: 473]
+05/25 20:25:54 INFO: [Worker 0] Loaded 1 episodes for house 3545 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_01	[json_eval_runner.py: 278]
+05/25 20:25:54 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 20:25:55 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e11475635c464216a2213d65c45a319a	[json_eval_task_sampler.py: 648]
+05/25 20:25:55 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5fa7101ca3744068ae84b30dbf0a9240	[json_eval_task_sampler.py: 648]
+05/25 20:25:55 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/3339ce474c3d4fb3a35952f476ca1e4a	[json_eval_task_sampler.py: 648]
+05/25 20:25:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3545_ceiling.xml	[task_sampler.py: 797]
+05/25 20:25:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3545, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:25:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:25:57 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects	[json_eval_task_sampler.py: 686]
+05/25 20:25:58 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:25:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:25:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:25:58 INFO: [Worker 0] Sampled task 'Pick up the blue and white marker and place it in or on the dark shallow round bowl'	[task_sampler.py: 1136]
+05/25 20:25:58 INFO: [Worker 0] Worker 0 house 3545 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:25:58 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:27:25 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 20:30:58 INFO: [Worker 0] Worker 0 house 3545 episode 0 object objamarkerpen_9ded8666275148929a57190ab939c735_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 20:31:02 INFO: [Worker 0] Batching and saving trajectory data for house_3545: 1 episodes	[pipeline.py: 233]
+05/25 20:31:02 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:31:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:31:05 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3545	[save_utils.py: 703]
+05/25 20:31:05 INFO: [Worker 0] Successfully saved trajectory data for house_3545 in 3.08s (batch: 2.94s, save: 0.15s)	[pipeline.py: 280]
+05/25 20:31:06 WARNING: [Worker 0] No trajectory data to save for house_3545	[pipeline.py: 229]
+05/25 20:31:06 INFO: [Worker 0] Worker 0 completed house 3545: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:31:06 INFO: [Worker 0] Worker 0 starting house 3595 (index 68/111)	[pipeline.py: 473]
+05/25 20:31:06 INFO: [Worker 0] Loaded 1 episodes for house 3595 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_01	[json_eval_runner.py: 278]
+05/25 20:31:06 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 20:31:24 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_26	[json_eval_task_sampler.py: 648]
+05/25 20:31:24 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b88a0160da29481fb7866fda93457fe3	[json_eval_task_sampler.py: 648]
+05/25 20:31:24 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e12c29eb1cee488498343a20c503ed21	[json_eval_task_sampler.py: 648]
+05/25 20:31:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3595_ceiling.xml	[task_sampler.py: 797]
+05/25 20:31:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3595, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:31:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:31:27 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects	[json_eval_task_sampler.py: 686]
+05/25 20:31:27 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:31:27 INFO: [Worker 0] Sampled task 'Pick up the red onion with stem and roots and place it in or on the round dark stone bowl'	[task_sampler.py: 1136]
+05/25 20:31:27 INFO: [Worker 0] Worker 0 house 3595 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:31:27 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:37:21 INFO: [Worker 0] Worker 0 house 3595 episode 0 object objaonion_3de79af9c89a441881daba64c884bbbf_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 20:37:26 INFO: [Worker 0] Batching and saving trajectory data for house_3595: 1 episodes	[pipeline.py: 233]
+05/25 20:37:26 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:37:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:37:29 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3595	[save_utils.py: 703]
+05/25 20:37:29 INFO: [Worker 0] Successfully saved trajectory data for house_3595 in 3.39s (batch: 3.24s, save: 0.15s)	[pipeline.py: 280]
+05/25 20:37:30 WARNING: [Worker 0] No trajectory data to save for house_3595	[pipeline.py: 229]
+05/25 20:37:30 INFO: [Worker 0] Worker 0 completed house 3595: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:37:30 INFO: [Worker 0] Worker 0 starting house 3640 (index 69/111)	[pipeline.py: 473]
+05/25 20:37:30 INFO: [Worker 0] Loaded 1 episodes for house 3640 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_01	[json_eval_runner.py: 278]
+05/25 20:37:30 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 20:38:30 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b8cba8b5a69543ce9875c40028261490	[json_eval_task_sampler.py: 648]
+05/25 20:38:30 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5fa7101ca3744068ae84b30dbf0a9240	[json_eval_task_sampler.py: 648]
+05/25 20:38:30 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/24ee73c87dcf4161a630bb65dee2a7a5	[json_eval_task_sampler.py: 648]
+05/25 20:38:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3640_ceiling.xml	[task_sampler.py: 797]
+05/25 20:38:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3640, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:38:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:38:35 INFO: [Worker 0] randomize_scene: Setting poses for 84 objects	[json_eval_task_sampler.py: 686]
+05/25 20:38:35 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:38:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:38:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:38:35 INFO: [Worker 0] Sampled task 'Pick up the instrumentation and place it in or on the maroon floral box'	[task_sampler.py: 1136]
+05/25 20:38:35 INFO: [Worker 0] Worker 0 house 3640 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:38:35 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:41:09 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 20:46:26 INFO: [Worker 0] Worker 0 house 3640 episode 0 object objaelectricaltransformer_6f46f585edac4aeca9634f6ec1f6ead0_2_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 20:46:29 INFO: [Worker 0] Batching and saving trajectory data for house_3640: 1 episodes	[pipeline.py: 233]
+05/25 20:46:29 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:46:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:46:32 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3640	[save_utils.py: 703]
+05/25 20:46:32 INFO: [Worker 0] Successfully saved trajectory data for house_3640 in 3.03s (batch: 2.85s, save: 0.18s)	[pipeline.py: 280]
+05/25 20:46:33 WARNING: [Worker 0] No trajectory data to save for house_3640	[pipeline.py: 229]
+05/25 20:46:33 INFO: [Worker 0] Worker 0 completed house 3640: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:46:33 INFO: [Worker 0] Worker 0 starting house 3672 (index 70/111)	[pipeline.py: 473]
+05/25 20:46:33 INFO: [Worker 0] Loaded 1 episodes for house 3672 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_01	[json_eval_runner.py: 278]
+05/25 20:46:33 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 20:47:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/3339ce474c3d4fb3a35952f476ca1e4a	[json_eval_task_sampler.py: 648]
+05/25 20:47:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/03f1185ff6d4428fa81f6fc9db589338	[json_eval_task_sampler.py: 648]
+05/25 20:47:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/1e23d9b649a643528ce00de750e858de	[json_eval_task_sampler.py: 648]
+05/25 20:47:05 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 20:47:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3672_ceiling.xml	[task_sampler.py: 797]
+05/25 20:47:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3672, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:47:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:47:10 INFO: [Worker 0] randomize_scene: Setting poses for 94 objects	[json_eval_task_sampler.py: 686]
+05/25 20:47:10 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:47:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:47:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:47:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:47:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:47:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:47:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:47:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:47:10 INFO: [Worker 0] Sampled task 'Pick up the popsicle and place it in or on the round wooden bowl with grain pattern'	[task_sampler.py: 1136]
+05/25 20:47:10 INFO: [Worker 0] Worker 0 house 3672 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:47:10 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:47:11 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene	[object_manager.py: 1238]
+05/25 20:49:41 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 20:56:10 INFO: [Worker 0] Worker 0 house 3672 episode 0 object objapopsicle_ea06ce6c179a4676a1e9329f3b7ee127_2_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 20:56:14 INFO: [Worker 0] Batching and saving trajectory data for house_3672: 1 episodes	[pipeline.py: 233]
+05/25 20:56:14 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:56:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:56:17 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3672	[save_utils.py: 703]
+05/25 20:56:17 INFO: [Worker 0] Successfully saved trajectory data for house_3672 in 3.26s (batch: 3.07s, save: 0.20s)	[pipeline.py: 280]
+05/25 20:56:18 WARNING: [Worker 0] No trajectory data to save for house_3672	[pipeline.py: 229]
+05/25 20:56:18 INFO: [Worker 0] Worker 0 completed house 3672: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:56:18 INFO: [Worker 0] Worker 0 starting house 3754 (index 71/111)	[pipeline.py: 473]
+05/25 20:56:18 INFO: [Worker 0] Loaded 1 episodes for house 3754 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_01	[json_eval_runner.py: 278]
+05/25 20:56:18 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 20:56:48 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0	[json_eval_task_sampler.py: 648]
+05/25 20:56:48 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/48272cae86364aa0995e70658330c0a9	[json_eval_task_sampler.py: 648]
+05/25 20:56:49 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/cb8931cc79b24d9cacb1d12349594c3b	[json_eval_task_sampler.py: 648]
+05/25 20:56:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3754_ceiling.xml	[task_sampler.py: 797]
+05/25 20:56:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3754, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:56:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:56:52 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects	[json_eval_task_sampler.py: 686]
+05/25 20:56:52 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:56:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:56:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:56:52 INFO: [Worker 0] Sampled task 'Pick up the yellow black wasp and place it in or on the shallow beige ceramic bowl with cracks'	[task_sampler.py: 1136]
+05/25 20:56:52 INFO: [Worker 0] Worker 0 house 3754 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:56:52 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 21:08:12 INFO: [Worker 0] Worker 0 house 3754 episode 0 object objainsect_60ef2e59ee2a492a9677c75b745cb9a1_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 21:08:17 INFO: [Worker 0] Batching and saving trajectory data for house_3754: 1 episodes	[pipeline.py: 233]
+05/25 21:08:17 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 21:08:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 21:08:20 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3754	[save_utils.py: 703]
+05/25 21:08:20 INFO: [Worker 0] Successfully saved trajectory data for house_3754 in 3.34s (batch: 3.13s, save: 0.21s)	[pipeline.py: 280]
+05/25 21:08:21 WARNING: [Worker 0] No trajectory data to save for house_3754	[pipeline.py: 229]
+05/25 21:08:21 INFO: [Worker 0] Worker 0 completed house 3754: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 21:08:21 INFO: [Worker 0] Worker 0 starting house 3788 (index 72/111)	[pipeline.py: 473]
+05/25 21:08:21 INFO: [Worker 0] Loaded 1 episodes for house 3788 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_01	[json_eval_runner.py: 278]
+05/25 21:08:21 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 21:08:27 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/80f09dd8b3d34005b3625823091978af	[json_eval_task_sampler.py: 648]
+05/25 21:08:27 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e5c6cae2c71b45fe8fee9657af246c2c	[json_eval_task_sampler.py: 648]
+05/25 21:08:27 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_1	[json_eval_task_sampler.py: 648]
+05/25 21:08:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3788_ceiling.xml	[task_sampler.py: 797]
+05/25 21:08:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3788, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 21:08:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 21:08:30 INFO: [Worker 0] randomize_scene: Setting poses for 15 objects	[json_eval_task_sampler.py: 686]
+05/25 21:08:30 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 21:08:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 21:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 21:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 21:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 21:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 21:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 21:08:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 21:08:30 INFO: [Worker 0] Sampled task 'Pick up the pixelated golden watch and place it in or on the tan bowl with dark patterns'	[task_sampler.py: 1136]
+05/25 21:08:30 INFO: [Worker 0] Worker 0 house 3788 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 21:08:30 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 21:10:52 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 21:15:17 INFO: [Worker 0] Worker 0 house 3788 episode 0 object objapocketwatch_c9414c6ccaf64384830c13d2819adaa8_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 21:15:21 INFO: [Worker 0] Batching and saving trajectory data for house_3788: 1 episodes	[pipeline.py: 233]
+05/25 21:15:21 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 21:15:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 21:15:24 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3788	[save_utils.py: 703]
+05/25 21:15:24 INFO: [Worker 0] Successfully saved trajectory data for house_3788 in 3.22s (batch: 3.06s, save: 0.16s)	[pipeline.py: 280]
+05/25 21:15:25 WARNING: [Worker 0] No trajectory data to save for house_3788	[pipeline.py: 229]
+05/25 21:15:25 INFO: [Worker 0] Worker 0 completed house 3788: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 21:15:25 INFO: [Worker 0] Worker 0 starting house 3846 (index 73/111)	[pipeline.py: 473]
+05/25 21:15:25 INFO: [Worker 0] Loaded 1 episodes for house 3846 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_01	[json_eval_runner.py: 278]
+05/25 21:15:25 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 21:15:30 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1e4b75a1bb484c42b99fcd3ddf23ae9f	[json_eval_task_sampler.py: 648]
+05/25 21:15:30 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ce448005340241c8acd2034b72cd09f8	[json_eval_task_sampler.py: 648]
+05/25 21:15:30 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/937044a40c3845bf88639056005b8a75	[json_eval_task_sampler.py: 648]
+05/25 21:15:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3846_ceiling.xml	[task_sampler.py: 797]
+05/25 21:15:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3846, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 21:15:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 21:15:38 INFO: [Worker 0] randomize_scene: Setting poses for 99 objects	[json_eval_task_sampler.py: 686]
+05/25 21:15:38 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 21:15:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 21:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 21:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 21:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 21:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 21:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 21:15:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 21:15:38 INFO: [Worker 0] Sampled task 'Pick up the white aerodynamic shell and place it in or on the white ceramic bowl'	[task_sampler.py: 1136]
+05/25 21:15:38 INFO: [Worker 0] Worker 0 house 3846 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 21:15:38 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 21:15:39 WARNING: [Worker 0] Could not find object objanarwhalskull_7aca2583e1e44dcfa06fbf2f87ae9a7f_1_0_8 in scene	[object_manager.py: 1238]
+05/25 21:15:39 WARNING: [Worker 0] Could not find object alarmclock_aeaa8688740de7793897653762c5fc08_1_0_8 in scene	[object_manager.py: 1238]
+05/25 21:17:52 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 21:26:11 INFO: [Worker 0] Worker 0 house 3846 episode 0 object objacasing_f7c919ec53a748038436a18cd83e6b3d_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 21:26:15 INFO: [Worker 0] Batching and saving trajectory data for house_3846: 1 episodes	[pipeline.py: 233]
+05/25 21:26:15 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 21:26:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 21:26:18 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3846	[save_utils.py: 703]
+05/25 21:26:18 INFO: [Worker 0] Successfully saved trajectory data for house_3846 in 2.96s (batch: 2.84s, save: 0.12s)	[pipeline.py: 280]
+05/25 21:26:18 WARNING: [Worker 0] No trajectory data to save for house_3846	[pipeline.py: 229]
+05/25 21:26:18 INFO: [Worker 0] Worker 0 completed house 3846: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 21:26:18 INFO: [Worker 0] Worker 0 starting house 3899 (index 74/111)	[pipeline.py: 473]
+05/25 21:26:18 INFO: [Worker 0] Loaded 1 episodes for house 3899 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_01	[json_eval_runner.py: 278]
+05/25 21:26:18 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 21:26:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/3b145885d881488887d90a98b3cde06f	[json_eval_task_sampler.py: 648]
+05/25 21:26:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a37c32fbdbbb4ab19c8b1cccc557f52d	[json_eval_task_sampler.py: 648]
+05/25 21:26:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/72f752cce53e4942be8e27429ceaf83a	[json_eval_task_sampler.py: 648]
+05/25 21:26:22 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 21:26:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3899_ceiling.xml	[task_sampler.py: 797]
+05/25 21:26:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3899, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 21:26:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 21:26:27 INFO: [Worker 0] randomize_scene: Setting poses for 95 objects	[json_eval_task_sampler.py: 686]
+05/25 21:26:27 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 21:26:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 21:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 21:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 21:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 21:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 21:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 21:26:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 21:26:27 INFO: [Worker 0] Sampled task 'Pick up the black metal locking pliers tool and place it in or on the round marbled gray bowl'	[task_sampler.py: 1136]
+05/25 21:26:27 INFO: [Worker 0] Worker 0 house 3899 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 21:26:27 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 21:26:28 WARNING: [Worker 0] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_3 in scene	[object_manager.py: 1238]
+05/25 21:26:28 WARNING: [Worker 0] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene	[object_manager.py: 1238]
+05/25 21:26:28 WARNING: [Worker 0] Could not find object objacableorganizer_10fc66b44e6a4f1f84c170a4acbd02ba_1_0_5 in scene	[object_manager.py: 1238]
+05/25 21:26:28 WARNING: [Worker 0] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_5 in scene	[object_manager.py: 1238]
+05/25 21:26:28 WARNING: [Worker 0] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene	[object_manager.py: 1238]
+05/25 21:28:33 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 21:37:17 INFO: [Worker 0] Worker 0 house 3899 episode 0 object objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 21:37:21 INFO: [Worker 0] Batching and saving trajectory data for house_3899: 1 episodes	[pipeline.py: 233]
+05/25 21:37:21 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 21:37:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 21:37:24 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3899	[save_utils.py: 703]
+05/25 21:37:24 INFO: [Worker 0] Successfully saved trajectory data for house_3899 in 3.18s (batch: 3.01s, save: 0.18s)	[pipeline.py: 280]
+05/25 21:37:25 WARNING: [Worker 0] No trajectory data to save for house_3899	[pipeline.py: 229]
+05/25 21:37:25 INFO: [Worker 0] Worker 0 completed house 3899: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 21:37:25 INFO: [Worker 0] Worker 0 starting house 3934 (index 75/111)	[pipeline.py: 473]
+05/25 21:37:25 INFO: [Worker 0] Loaded 2 episodes for house 3934 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_01	[json_eval_runner.py: 278]
+05/25 21:37:25 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]
+05/26 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log b/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log
new file mode 100644
index 0000000000000000000000000000000000000000..67f360d4ea283db9b2e0b1e128f6b5524b22f53e
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log
@@ -0,0 +1,225 @@
+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 36 houses with 2 episodes each (72 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_01'),
+ '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_01/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': [3934,
+                                        3947,
+                                        3991,
+                                        4021,
+                                        4079,
+                                        4144,
+                                        4213,
+                                        4289,
+                                        4303,
+                                        4347,
+                                        4382,
+                                        4423,
+                                        4493,
+                                        4545,
+                                        4600,
+                                        4644,
+                                        4702,
+                                        4727,
+                                        4742,
+                                        4773,
+                                        4807,
+                                        4860,
+                                        4933,
+                                        4983,
+                                        5023,
+                                        5048,
+                                        5116,
+                                        5165,
+                                        5219,
+                                        5291,
+                                        5361,
+                                        5390,
+                                        5428,
+                                        5473,
+                                        5495,
+                                        5540],
+                         '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 3934 (index 0/36)	[pipeline.py: 473]
+05/26 00:59:03 INFO: [Worker 0] Loaded 2 episodes for house 3934 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_01	[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_0/10578ce7eca64714b260b142553f34f5	[json_eval_task_sampler.py: 648]
+05/26 01:02:36 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a37c32fbdbbb4ab19c8b1cccc557f52d	[json_eval_task_sampler.py: 648]
+05/26 01:02:36 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_29	[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 01:02:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3934_ceiling.xml	[task_sampler.py: 797]
+05/26 01:02:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3934, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:02:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:02:42 INFO: [Worker 0] randomize_scene: Setting poses for 103 objects	[json_eval_task_sampler.py: 686]
+05/26 01:02:42 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:02:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:02:42 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 can opener and place it in or on the sleek metallic tray with edges'	[task_sampler.py: 1136]
+05/26 01:02:42 INFO: [Worker 0] Worker 0 house 3934 episode 0/2 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 objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:02:42 WARNING: [Worker 0] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_2_0_5 in scene	[object_manager.py: 1238]
+05/26 01:02:42 WARNING: [Worker 0] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_8 in scene	[object_manager.py: 1238]
+05/26 01:09:04 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 01:14:36 INFO: [Worker 0] Worker 0 house 3934 episode 0 object objacanopener_59a4d5ccb6cb449ab0b2c6ab2be80d2e_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 01:14:41 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 01:16:12 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/10578ce7eca64714b260b142553f34f5	[json_eval_task_sampler.py: 648]
+05/26 01:16:12 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a37c32fbdbbb4ab19c8b1cccc557f52d	[json_eval_task_sampler.py: 648]
+05/26 01:16:12 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_29	[json_eval_task_sampler.py: 648]
+05/26 01:16:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3934_ceiling.xml	[task_sampler.py: 797]
+05/26 01:16:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3934, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:16:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:16:23 INFO: [Worker 0] randomize_scene: Setting poses for 103 objects	[json_eval_task_sampler.py: 686]
+05/26 01:16:23 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:16:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:16:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:16:23 INFO: [Worker 0] Sampled task 'Pick up the green manual can opener with lever and place it in or on the simple matte gray bowl, tapered'	[task_sampler.py: 1136]
+05/26 01:16:23 INFO: [Worker 0] Worker 0 house 3934 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 01:16:24 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:16:24 WARNING: [Worker 0] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:16:24 WARNING: [Worker 0] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_2_0_5 in scene	[object_manager.py: 1238]
+05/26 01:16:24 WARNING: [Worker 0] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_8 in scene	[object_manager.py: 1238]
+05/26 01:20:48 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 01:23:51 INFO: Received SIGTERM. Initiating graceful shutdown...	[pipeline.py: 1260]
+05/26 01:23:51 INFO: [Worker 0] Worker 0 house 3934 episode 1 object objacanopener_8237129bfae244d7a62d706937f9f106_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 01:23:56 INFO: [Worker 0] Worker 0 house 3934 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 01:23:57 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1496]
+05/26 01:23:57 INFO: Success count: 0, Total count: 2	[pipeline.py: 1499]
+05/26 01:23:57 INFO: Success rate: 0.00%	[pipeline.py: 1500]
diff --git a/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/running_log.log b/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/running_log.log
new file mode 100644
index 0000000000000000000000000000000000000000..c06f506c9bf33eb23f08a65ebed46794daf23f49
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/running_log.log
@@ -0,0 +1,1290 @@
+05/26 01:04:42 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 677]
+05/26 01:04:42 INFO: Starting house-by-house rollout of 36 houses with 2 episodes each (72 total episodes) using 1 worker processes	[pipeline.py: 1279]
+05/26 01:04:42 INFO: Evaluation configuration:	[pipeline.py: 1286]
+05/26 01:04:42 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_01'),
+ '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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442'),
+ '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': [3934,
+                                        3947,
+                                        3991,
+                                        4021,
+                                        4079,
+                                        4144,
+                                        4213,
+                                        4289,
+                                        4303,
+                                        4347,
+                                        4382,
+                                        4423,
+                                        4493,
+                                        4545,
+                                        4600,
+                                        4644,
+                                        4702,
+                                        4727,
+                                        4742,
+                                        4773,
+                                        4807,
+                                        4860,
+                                        4933,
+                                        4983,
+                                        5023,
+                                        5048,
+                                        5116,
+                                        5165,
+                                        5219,
+                                        5291,
+                                        5361,
+                                        5390,
+                                        5428,
+                                        5473,
+                                        5495,
+                                        5540],
+                         '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 01:04:42 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler	[pipeline.py: 439]
+05/26 01:04:42 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]
+05/26 01:04:42 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler	[pipeline.py: 445]
+05/26 01:04:42 INFO: [Worker 0] Worker 0 starting house 3934 (index 0/36)	[pipeline.py: 473]
+05/26 01:04:42 INFO: [Worker 0] Loaded 2 episodes for house 3934 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_01	[json_eval_runner.py: 278]
+05/26 01:04:42 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]
+05/26 01:04:56 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/10578ce7eca64714b260b142553f34f5	[json_eval_task_sampler.py: 648]
+05/26 01:04:56 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a37c32fbdbbb4ab19c8b1cccc557f52d	[json_eval_task_sampler.py: 648]
+05/26 01:04:56 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_29	[json_eval_task_sampler.py: 648]
+05/26 01:04:56 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/26 01:05:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3934_ceiling.xml	[task_sampler.py: 797]
+05/26 01:05:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3934, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:05:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:05:17 INFO: [Worker 0] randomize_scene: Setting poses for 103 objects	[json_eval_task_sampler.py: 686]
+05/26 01:05:17 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:05:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:05:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:05:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:05:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:05:17 INFO: [Worker 0] Sampled task 'Pick up the can opener and place it in or on the sleek metallic tray with edges'	[task_sampler.py: 1136]
+05/26 01:05:17 INFO: [Worker 0] Worker 0 house 3934 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 01:05:18 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:05:19 WARNING: [Worker 0] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:05:19 WARNING: [Worker 0] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_2_0_5 in scene	[object_manager.py: 1238]
+05/26 01:05:19 WARNING: [Worker 0] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_8 in scene	[object_manager.py: 1238]
+05/26 01:09:09 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 01:14:47 INFO: [Worker 0] Worker 0 house 3934 episode 0 object objacanopener_59a4d5ccb6cb449ab0b2c6ab2be80d2e_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 01:14:52 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]
+05/26 01:16:13 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/10578ce7eca64714b260b142553f34f5	[json_eval_task_sampler.py: 648]
+05/26 01:16:13 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a37c32fbdbbb4ab19c8b1cccc557f52d	[json_eval_task_sampler.py: 648]
+05/26 01:16:13 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_29	[json_eval_task_sampler.py: 648]
+05/26 01:16:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3934_ceiling.xml	[task_sampler.py: 797]
+05/26 01:16:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3934, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:16:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:16:25 INFO: [Worker 0] randomize_scene: Setting poses for 103 objects	[json_eval_task_sampler.py: 686]
+05/26 01:16:25 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:16:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:16:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:16:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:16:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:16:25 INFO: [Worker 0] Sampled task 'Pick up the green manual can opener with lever and place it in or on the simple matte gray bowl, tapered'	[task_sampler.py: 1136]
+05/26 01:16:25 INFO: [Worker 0] Worker 0 house 3934 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 01:16:26 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:16:26 WARNING: [Worker 0] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:16:26 WARNING: [Worker 0] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_2_0_5 in scene	[object_manager.py: 1238]
+05/26 01:16:26 WARNING: [Worker 0] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_8 in scene	[object_manager.py: 1238]
+05/26 01:20:49 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]
+05/26 01:25:10 INFO: [Worker 0] Worker 0 house 3934 episode 1 object objacanopener_8237129bfae244d7a62d706937f9f106_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 01:25:13 INFO: [Worker 0] Batching and saving trajectory data for house_3934: 2 episodes	[pipeline.py: 233]
+05/26 01:25:13 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:25:15 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:25:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:25:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:25:17 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3934	[save_utils.py: 703]
+05/26 01:25:17 INFO: [Worker 0] Successfully saved trajectory data for house_3934 in 4.34s (batch: 4.14s, save: 0.20s)	[pipeline.py: 280]
+05/26 01:25:18 WARNING: [Worker 0] No trajectory data to save for house_3934	[pipeline.py: 229]
+05/26 01:25:18 INFO: [Worker 0] Worker 0 completed house 3934: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 01:25:18 INFO: [Worker 0] Worker 0 starting house 3947 (index 1/36)	[pipeline.py: 473]
+05/26 01:25:18 INFO: [Worker 0] Loaded 1 episodes for house 3947 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_01	[json_eval_runner.py: 278]
+05/26 01:25:18 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]
+05/26 01:31:40 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1ef337c5cfda4d368ceb154c0e9fae0e	[json_eval_task_sampler.py: 648]
+05/26 01:31:40 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bf83213efac34b3cb2ad6ac5ddaf05d9	[json_eval_task_sampler.py: 648]
+05/26 01:31:40 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/8c419f6d0cbc4580a2e2b9d273969b97	[json_eval_task_sampler.py: 648]
+05/26 01:31:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3947_ceiling.xml	[task_sampler.py: 797]
+05/26 01:31:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3947, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:31:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:31:44 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects	[json_eval_task_sampler.py: 686]
+05/26 01:31:44 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:31:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:31:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:31:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:31:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:31:44 INFO: [Worker 0] Sampled task 'Pick up the twisted rusty circular metal loop and place it in or on the blue and white ceramic bowl'	[task_sampler.py: 1136]
+05/26 01:31:44 INFO: [Worker 0] Worker 0 house 3947 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:31:44 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:37:23 INFO: [Worker 0] Worker 0 house 3947 episode 0 object objametalloop_25c41058e5f24271808b14c0ac40a02a_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/26 01:37:27 INFO: [Worker 0] Batching and saving trajectory data for house_3947: 1 episodes	[pipeline.py: 233]
+05/26 01:37:27 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:37:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:37:30 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3947	[save_utils.py: 703]
+05/26 01:37:30 INFO: [Worker 0] Successfully saved trajectory data for house_3947 in 2.67s (batch: 2.54s, save: 0.13s)	[pipeline.py: 280]
+05/26 01:37:31 WARNING: [Worker 0] No trajectory data to save for house_3947	[pipeline.py: 229]
+05/26 01:37:31 INFO: [Worker 0] Worker 0 completed house 3947: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 01:37:31 INFO: [Worker 0] Worker 0 starting house 3991 (index 2/36)	[pipeline.py: 473]
+05/26 01:37:31 INFO: [Worker 0] Loaded 1 episodes for house 3991 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_01	[json_eval_runner.py: 278]
+05/26 01:37:31 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]
+05/26 01:38:03 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f8b3d867de194e6cb587c89d54ed8f0e	[json_eval_task_sampler.py: 648]
+05/26 01:38:03 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/659e6917a5b145fc88b46882fde3764d	[json_eval_task_sampler.py: 648]
+05/26 01:38:03 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0aab5f2a6f744c13bffef0fccf53c0e0	[json_eval_task_sampler.py: 648]
+05/26 01:38:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3991_ceiling.xml	[task_sampler.py: 797]
+05/26 01:38:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3991, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:38:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:38:07 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects	[json_eval_task_sampler.py: 686]
+05/26 01:38:07 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:38:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:38:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:38:07 INFO: [Worker 0] Sampled task 'Pick up the blue puzzle piece with rainbow clouds and place it in or on the round shallow dish with scrollwork'	[task_sampler.py: 1136]
+05/26 01:38:07 INFO: [Worker 0] Worker 0 house 3991 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:38:07 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:41:05 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]
+05/26 01:44:33 INFO: [Worker 0] Worker 0 house 3991 episode 0 object objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 01:44:36 INFO: [Worker 0] Batching and saving trajectory data for house_3991: 1 episodes	[pipeline.py: 233]
+05/26 01:44:36 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:44:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:44:38 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3991	[save_utils.py: 703]
+05/26 01:44:38 INFO: [Worker 0] Successfully saved trajectory data for house_3991 in 2.12s (batch: 2.03s, save: 0.09s)	[pipeline.py: 280]
+05/26 01:44:39 WARNING: [Worker 0] No trajectory data to save for house_3991	[pipeline.py: 229]
+05/26 01:44:39 INFO: [Worker 0] Worker 0 completed house 3991: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 01:44:39 INFO: [Worker 0] Worker 0 starting house 4021 (index 3/36)	[pipeline.py: 473]
+05/26 01:44:39 INFO: [Worker 0] Loaded 1 episodes for house 4021 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_01	[json_eval_runner.py: 278]
+05/26 01:44:39 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]
+05/26 01:55:31 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/39afab89520c460598805c0a6bad291c	[json_eval_task_sampler.py: 648]
+05/26 01:55:31 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/589cc33e26134e808392ac3e956ba868	[json_eval_task_sampler.py: 648]
+05/26 01:55:31 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/1e23d9b649a643528ce00de750e858de	[json_eval_task_sampler.py: 648]
+05/26 01:55:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4021_ceiling.xml	[task_sampler.py: 797]
+05/26 01:55:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4021, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:55:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:55:33 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects	[json_eval_task_sampler.py: 686]
+05/26 01:55:33 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:55:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:55:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:55:33 INFO: [Worker 0] Sampled task 'Pick up the blue curved brim visor and place it in or on the round black and gray ashtray with notches'	[task_sampler.py: 1136]
+05/26 01:55:33 INFO: [Worker 0] Worker 0 house 4021 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:55:33 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:57:39 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 02:00:37 INFO: [Worker 0] Worker 0 house 4021 episode 0 object objasportsvisor_2fe424987e594148959acafbebe79f41_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 02:00:41 INFO: [Worker 0] Batching and saving trajectory data for house_4021: 1 episodes	[pipeline.py: 233]
+05/26 02:00:41 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:00:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:00:44 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4021	[save_utils.py: 703]
+05/26 02:00:44 INFO: [Worker 0] Successfully saved trajectory data for house_4021 in 3.42s (batch: 3.27s, save: 0.15s)	[pipeline.py: 280]
+05/26 02:00:45 WARNING: [Worker 0] No trajectory data to save for house_4021	[pipeline.py: 229]
+05/26 02:00:45 INFO: [Worker 0] Worker 0 completed house 4021: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 02:00:45 INFO: [Worker 0] Worker 0 starting house 4079 (index 4/36)	[pipeline.py: 473]
+05/26 02:00:45 INFO: [Worker 0] Loaded 1 episodes for house 4079 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_01	[json_eval_runner.py: 278]
+05/26 02:00:45 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 02:01:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/934bd78c490140198db542aee7f765fa	[json_eval_task_sampler.py: 648]
+05/26 02:01:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b63ca5b519ba4920a6288da00d9224bd	[json_eval_task_sampler.py: 648]
+05/26 02:01:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d318587cfc624b18b52a3a7fb7124373	[json_eval_task_sampler.py: 648]
+05/26 02:01:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4079_ceiling.xml	[task_sampler.py: 797]
+05/26 02:01:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4079, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:01:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:01:32 INFO: [Worker 0] randomize_scene: Setting poses for 94 objects	[json_eval_task_sampler.py: 686]
+05/26 02:01:32 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:01:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:01:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:01:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:01:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:01:32 INFO: [Worker 0] Sampled task 'Pick up the butterfly knife with colorful gradient blade and place it in or on the square pink box with patterns'	[task_sampler.py: 1136]
+05/26 02:01:32 INFO: [Worker 0] Worker 0 house 4079 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 02:01:32 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:09:18 INFO: [Worker 0] Worker 0 house 4079 episode 0 object objabutterflyknife_be05554b77de495ea5e92d3bcb7730fa_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/26 02:09:24 INFO: [Worker 0] Batching and saving trajectory data for house_4079: 1 episodes	[pipeline.py: 233]
+05/26 02:09:24 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:09:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:09:28 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4079	[save_utils.py: 703]
+05/26 02:09:28 INFO: [Worker 0] Successfully saved trajectory data for house_4079 in 3.59s (batch: 3.39s, save: 0.20s)	[pipeline.py: 280]
+05/26 02:09:29 WARNING: [Worker 0] No trajectory data to save for house_4079	[pipeline.py: 229]
+05/26 02:09:29 INFO: [Worker 0] Worker 0 completed house 4079: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 02:09:29 INFO: [Worker 0] Worker 0 starting house 4144 (index 5/36)	[pipeline.py: 473]
+05/26 02:09:29 INFO: [Worker 0] Loaded 1 episodes for house 4144 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_01	[json_eval_runner.py: 278]
+05/26 02:09:29 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 02:09:34 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/372c4540cbe148b9bddcbbf1761b5e81	[json_eval_task_sampler.py: 648]
+05/26 02:09:34 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/39afab89520c460598805c0a6bad291c	[json_eval_task_sampler.py: 648]
+05/26 02:09:34 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bf83213efac34b3cb2ad6ac5ddaf05d9	[json_eval_task_sampler.py: 648]
+05/26 02:09:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4144_ceiling.xml	[task_sampler.py: 797]
+05/26 02:09:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4144, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:09:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:09:43 INFO: [Worker 0] randomize_scene: Setting poses for 90 objects	[json_eval_task_sampler.py: 686]
+05/26 02:09:43 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:09:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:09:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:09:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:09:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:09:43 INFO: [Worker 0] Sampled task 'Pick up the realistic pink dentures and place it in or on the green rectangular box with snowflakes'	[task_sampler.py: 1136]
+05/26 02:09:43 INFO: [Worker 0] Worker 0 house 4144 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 02:09:43 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:09:44 WARNING: [Worker 0] Could not find object objashoe_ca4b35d9115e458f8f4c22dfb3d73f7b_1_0_9 in scene	[object_manager.py: 1238]
+05/26 02:09:44 WARNING: [Worker 0] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_9 in scene	[object_manager.py: 1238]
+05/26 02:16:43 INFO: [Worker 0] Worker 0 house 4144 episode 0 object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/26 02:16:47 INFO: [Worker 0] Batching and saving trajectory data for house_4144: 1 episodes	[pipeline.py: 233]
+05/26 02:16:47 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:16:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:16:50 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4144	[save_utils.py: 703]
+05/26 02:16:50 INFO: [Worker 0] Successfully saved trajectory data for house_4144 in 3.34s (batch: 3.22s, save: 0.12s)	[pipeline.py: 280]
+05/26 02:16:51 WARNING: [Worker 0] No trajectory data to save for house_4144	[pipeline.py: 229]
+05/26 02:16:51 INFO: [Worker 0] Worker 0 completed house 4144: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 02:16:51 INFO: [Worker 0] Worker 0 starting house 4213 (index 6/36)	[pipeline.py: 473]
+05/26 02:16:51 INFO: [Worker 0] Loaded 1 episodes for house 4213 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_01	[json_eval_runner.py: 278]
+05/26 02:16:51 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]
+05/26 02:16:55 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/496bd9f05a714e608a41a24b169937f6	[json_eval_task_sampler.py: 648]
+05/26 02:16:55 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_12	[json_eval_task_sampler.py: 648]
+05/26 02:16:55 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9ed70e7516894535a9e208904f8db364	[json_eval_task_sampler.py: 648]
+05/26 02:17:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4213_ceiling.xml	[task_sampler.py: 797]
+05/26 02:17:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4213, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:17:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:17:02 INFO: [Worker 0] randomize_scene: Setting poses for 88 objects	[json_eval_task_sampler.py: 686]
+05/26 02:17:02 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:17:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:17:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:17:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:17:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:17:02 INFO: [Worker 0] Sampled task 'Pick up the ace card and place it in or on the rustic shallow clay bowl'	[task_sampler.py: 1136]
+05/26 02:17:02 INFO: [Worker 0] Worker 0 house 4213 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 02:17:02 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:24:22 INFO: [Worker 0] Worker 0 house 4213 episode 0 object objaplayingcard_c57676d9c0444741baf5a1154af6bc9b_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 02:24:27 INFO: [Worker 0] Batching and saving trajectory data for house_4213: 1 episodes	[pipeline.py: 233]
+05/26 02:24:27 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:24:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:24:31 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4213	[save_utils.py: 703]
+05/26 02:24:31 INFO: [Worker 0] Successfully saved trajectory data for house_4213 in 4.29s (batch: 4.17s, save: 0.12s)	[pipeline.py: 280]
+05/26 02:24:32 WARNING: [Worker 0] No trajectory data to save for house_4213	[pipeline.py: 229]
+05/26 02:24:32 INFO: [Worker 0] Worker 0 completed house 4213: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 02:24:32 INFO: [Worker 0] Worker 0 starting house 4289 (index 7/36)	[pipeline.py: 473]
+05/26 02:24:32 INFO: [Worker 0] Loaded 1 episodes for house 4289 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_01	[json_eval_runner.py: 278]
+05/26 02:24:32 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 02:24:37 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1e23d9b649a643528ce00de750e858de	[json_eval_task_sampler.py: 648]
+05/26 02:24:37 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c7df0f7671d34fb9817d37067072f9ab	[json_eval_task_sampler.py: 648]
+05/26 02:24:37 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/576495fa2f9749adaca89aa604aa68b0	[json_eval_task_sampler.py: 648]
+05/26 02:24:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4289_ceiling.xml	[task_sampler.py: 797]
+05/26 02:24:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4289, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:24:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:24:42 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects	[json_eval_task_sampler.py: 686]
+05/26 02:24:42 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:24:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:24:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:24:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:24:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:24:42 INFO: [Worker 0] Sampled task 'Pick up the wooden top and place it in or on the light ashtray'	[task_sampler.py: 1136]
+05/26 02:24:42 INFO: [Worker 0] Worker 0 house 4289 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 02:24:43 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:32:30 INFO: [Worker 0] Worker 0 house 4289 episode 0 object objaspinningtop_c1badded9748431db08a9c969d3fea5e_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 02:32:33 INFO: [Worker 0] Batching and saving trajectory data for house_4289: 1 episodes	[pipeline.py: 233]
+05/26 02:32:33 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:32:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:32:36 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4289	[save_utils.py: 703]
+05/26 02:32:36 INFO: [Worker 0] Successfully saved trajectory data for house_4289 in 2.89s (batch: 2.76s, save: 0.13s)	[pipeline.py: 280]
+05/26 02:32:37 WARNING: [Worker 0] No trajectory data to save for house_4289	[pipeline.py: 229]
+05/26 02:32:37 INFO: [Worker 0] Worker 0 completed house 4289: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 02:32:37 INFO: [Worker 0] Worker 0 starting house 4303 (index 8/36)	[pipeline.py: 473]
+05/26 02:32:37 INFO: [Worker 0] Loaded 2 episodes for house 4303 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_01	[json_eval_runner.py: 278]
+05/26 02:32:37 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]
+05/26 02:32:41 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1e23d9b649a643528ce00de750e858de	[json_eval_task_sampler.py: 648]
+05/26 02:32:41 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/63211cbfb48044bcbdbbd30a3aa3bb75	[json_eval_task_sampler.py: 648]
+05/26 02:32:41 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2911e8c87d49402c9e3c18277c8b2b2a	[json_eval_task_sampler.py: 648]
+05/26 02:32:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4303_ceiling.xml	[task_sampler.py: 797]
+05/26 02:32:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4303, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:32:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:32:46 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects	[json_eval_task_sampler.py: 686]
+05/26 02:32:46 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:32:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:32:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:32:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:32:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:32:46 INFO: [Worker 0] Sampled task 'Pick up the vintage beige computer keyboard with keys and place it in or on the crockery'	[task_sampler.py: 1136]
+05/26 02:32:46 INFO: [Worker 0] Worker 0 house 4303 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 02:32:47 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:32:47 WARNING: [Worker 0] Could not find object egg_aeca24b46189bee76c22ec0349729d60_1_0_8 in scene	[object_manager.py: 1238]
+05/26 02:35:56 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 02:45:25 INFO: [Worker 0] Worker 0 house 4303 episode 0 object objacomputerkeyboard_51f63167c849450a89b65fcd7d81e8f7_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 02:45:29 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 02:45:32 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1e23d9b649a643528ce00de750e858de	[json_eval_task_sampler.py: 648]
+05/26 02:45:32 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/63211cbfb48044bcbdbbd30a3aa3bb75	[json_eval_task_sampler.py: 648]
+05/26 02:45:32 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2911e8c87d49402c9e3c18277c8b2b2a	[json_eval_task_sampler.py: 648]
+05/26 02:45:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4303_ceiling.xml	[task_sampler.py: 797]
+05/26 02:45:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4303, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:45:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:45:38 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects	[json_eval_task_sampler.py: 686]
+05/26 02:45:38 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:45:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:45:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:45:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:45:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:45:38 INFO: [Worker 0] Sampled task 'Pick up the metallic green pliers and place it in or on the rustic ceramic bowl'	[task_sampler.py: 1136]
+05/26 02:45:38 INFO: [Worker 0] Worker 0 house 4303 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 02:45:38 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:45:38 WARNING: [Worker 0] Could not find object egg_aeca24b46189bee76c22ec0349729d60_1_0_8 in scene	[object_manager.py: 1238]
+05/26 02:49:07 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 02:53:35 INFO: [Worker 0] Worker 0 house 4303 episode 1 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/26 02:53:40 INFO: [Worker 0] Batching and saving trajectory data for house_4303: 2 episodes	[pipeline.py: 233]
+05/26 02:53:40 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:53:43 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:53:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:53:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:53:47 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4303	[save_utils.py: 703]
+05/26 02:53:47 INFO: [Worker 0] Successfully saved trajectory data for house_4303 in 6.55s (batch: 6.21s, save: 0.35s)	[pipeline.py: 280]
+05/26 02:53:48 WARNING: [Worker 0] No trajectory data to save for house_4303	[pipeline.py: 229]
+05/26 02:53:48 INFO: [Worker 0] Worker 0 completed house 4303: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 02:53:48 INFO: [Worker 0] Worker 0 starting house 4347 (index 9/36)	[pipeline.py: 473]
+05/26 02:53:48 INFO: [Worker 0] Loaded 1 episodes for house 4347 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_01	[json_eval_runner.py: 278]
+05/26 02:53:48 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 02:53:51 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/5f6ab8152ec9440e9b922def5ae8b8b2	[json_eval_task_sampler.py: 648]
+05/26 02:53:51 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_2	[json_eval_task_sampler.py: 648]
+05/26 02:53:51 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_29	[json_eval_task_sampler.py: 648]
+05/26 02:53:51 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/26 02:53:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4347_ceiling.xml	[task_sampler.py: 797]
+05/26 02:53:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4347, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:53:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:53:53 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects	[json_eval_task_sampler.py: 686]
+05/26 02:53:53 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:53:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:53:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:53:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:53:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:53:53 INFO: [Worker 0] Sampled task 'Pick up the light gray plastic mounting bracket and place it in or on the translucent white smooth plastic bowl'	[task_sampler.py: 1136]
+05/26 02:53:53 INFO: [Worker 0] Worker 0 house 4347 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 02:53:53 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:53:54 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene	[object_manager.py: 1238]
+05/26 02:57:48 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 03:01:32 INFO: [Worker 0] Worker 0 house 4347 episode 0 object objamountingbracket_89c52ab7b8f149369c832713bad2203c_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 03:01:38 INFO: [Worker 0] Batching and saving trajectory data for house_4347: 1 episodes	[pipeline.py: 233]
+05/26 03:01:38 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:01:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:01:42 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4347	[save_utils.py: 703]
+05/26 03:01:42 INFO: [Worker 0] Successfully saved trajectory data for house_4347 in 3.76s (batch: 3.54s, save: 0.22s)	[pipeline.py: 280]
+05/26 03:01:43 WARNING: [Worker 0] No trajectory data to save for house_4347	[pipeline.py: 229]
+05/26 03:01:43 INFO: [Worker 0] Worker 0 completed house 4347: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:01:43 INFO: [Worker 0] Worker 0 starting house 4382 (index 10/36)	[pipeline.py: 473]
+05/26 03:01:43 INFO: [Worker 0] Loaded 1 episodes for house 4382 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_01	[json_eval_runner.py: 278]
+05/26 03:01:43 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 03:01:49 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/3339ce474c3d4fb3a35952f476ca1e4a	[json_eval_task_sampler.py: 648]
+05/26 03:01:49 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0b0079b036c845139d5823255a34da7a	[json_eval_task_sampler.py: 648]
+05/26 03:01:49 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_28	[json_eval_task_sampler.py: 648]
+05/26 03:01:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4382_ceiling.xml	[task_sampler.py: 797]
+05/26 03:01:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4382, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:01:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:01:58 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects	[json_eval_task_sampler.py: 686]
+05/26 03:01:58 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:01:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:01:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:01:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:01:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:01:58 INFO: [Worker 0] Sampled task 'Pick up the rectangular rough gray stone block and place it in or on the oval pet bowl'	[task_sampler.py: 1136]
+05/26 03:01:58 INFO: [Worker 0] Worker 0 house 4382 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:01:58 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:05:48 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 03:13:04 INFO: [Worker 0] Worker 0 house 4382 episode 0 object objastoneblock_7a500b5f08d349f09cb3855ed029e6fa_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/26 03:13:08 INFO: [Worker 0] Batching and saving trajectory data for house_4382: 1 episodes	[pipeline.py: 233]
+05/26 03:13:08 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:13:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:13:12 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4382	[save_utils.py: 703]
+05/26 03:13:12 INFO: [Worker 0] Successfully saved trajectory data for house_4382 in 3.59s (batch: 3.36s, save: 0.23s)	[pipeline.py: 280]
+05/26 03:13:13 WARNING: [Worker 0] No trajectory data to save for house_4382	[pipeline.py: 229]
+05/26 03:13:13 INFO: [Worker 0] Worker 0 completed house 4382: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:13:13 INFO: [Worker 0] Worker 0 starting house 4423 (index 11/36)	[pipeline.py: 473]
+05/26 03:13:13 INFO: [Worker 0] Loaded 1 episodes for house 4423 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_01	[json_eval_runner.py: 278]
+05/26 03:13:13 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]
+05/26 03:13:14 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/576495fa2f9749adaca89aa604aa68b0	[json_eval_task_sampler.py: 648]
+05/26 03:13:14 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_14	[json_eval_task_sampler.py: 648]
+05/26 03:13:14 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/21480103f9f44a52a5ee8bc37fb70bab	[json_eval_task_sampler.py: 648]
+05/26 03:13:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4423_ceiling.xml	[task_sampler.py: 797]
+05/26 03:13:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4423, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:13:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:13:18 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects	[json_eval_task_sampler.py: 686]
+05/26 03:13:18 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:13:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:13:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:13:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:13:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:13:18 INFO: [Worker 0] Sampled task 'Pick up the wooden mannequin hand peace and place it in or on the rustic brown bowl with texture'	[task_sampler.py: 1136]
+05/26 03:13:18 INFO: [Worker 0] Worker 0 house 4423 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:13:18 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:15:51 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 03:20:08 INFO: [Worker 0] Worker 0 house 4423 episode 0 object objamannequinhand_9507be033ab14d248bc3479e16927993_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 03:20:12 INFO: [Worker 0] Batching and saving trajectory data for house_4423: 1 episodes	[pipeline.py: 233]
+05/26 03:20:12 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:20:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:20:15 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4423	[save_utils.py: 703]
+05/26 03:20:15 INFO: [Worker 0] Successfully saved trajectory data for house_4423 in 2.88s (batch: 2.73s, save: 0.15s)	[pipeline.py: 280]
+05/26 03:20:15 WARNING: [Worker 0] No trajectory data to save for house_4423	[pipeline.py: 229]
+05/26 03:20:15 INFO: [Worker 0] Worker 0 completed house 4423: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:20:15 INFO: [Worker 0] Worker 0 starting house 4493 (index 12/36)	[pipeline.py: 473]
+05/26 03:20:15 INFO: [Worker 0] Loaded 1 episodes for house 4493 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_01	[json_eval_runner.py: 278]
+05/26 03:20:15 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 03:20:23 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d50f554707f24584b988e2feea162cc5	[json_eval_task_sampler.py: 648]
+05/26 03:20:23 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b63ca5b519ba4920a6288da00d9224bd	[json_eval_task_sampler.py: 648]
+05/26 03:20:23 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/408b385373564c16acda3224de7d2ec6	[json_eval_task_sampler.py: 648]
+05/26 03:20:23 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/26 03:20:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4493_ceiling.xml	[task_sampler.py: 797]
+05/26 03:20:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4493, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:20:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:20:28 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects	[json_eval_task_sampler.py: 686]
+05/26 03:20:28 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:20:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:20:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:20:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:20:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:20:28 INFO: [Worker 0] Sampled task 'Pick up the red rectangular novelty license card and place it in or on the round ceramic bowl with floral patterns'	[task_sampler.py: 1136]
+05/26 03:20:28 INFO: [Worker 0] Worker 0 house 4493 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:20:29 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:20:29 WARNING: [Worker 0] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_7 in scene	[object_manager.py: 1238]
+05/26 03:20:29 WARNING: [Worker 0] Could not find object objadentures_db38ff23dc534a8c8d27a1107904ef94_2_0_7 in scene	[object_manager.py: 1238]
+05/26 03:20:29 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene	[object_manager.py: 1238]
+05/26 03:25:29 INFO: [Worker 0] Worker 0 house 4493 episode 0 object objanoveltycard_8e6f2b6b96e24c6096116eb97376abff_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 03:25:33 INFO: [Worker 0] Batching and saving trajectory data for house_4493: 1 episodes	[pipeline.py: 233]
+05/26 03:25:33 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:25:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:25:35 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4493	[save_utils.py: 703]
+05/26 03:25:35 INFO: [Worker 0] Successfully saved trajectory data for house_4493 in 2.55s (batch: 2.39s, save: 0.16s)	[pipeline.py: 280]
+05/26 03:25:36 WARNING: [Worker 0] No trajectory data to save for house_4493	[pipeline.py: 229]
+05/26 03:25:36 INFO: [Worker 0] Worker 0 completed house 4493: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:25:36 INFO: [Worker 0] Worker 0 starting house 4545 (index 13/36)	[pipeline.py: 473]
+05/26 03:25:36 INFO: [Worker 0] Loaded 1 episodes for house 4545 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_01	[json_eval_runner.py: 278]
+05/26 03:25:36 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 03:25:38 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1e23d9b649a643528ce00de750e858de	[json_eval_task_sampler.py: 648]
+05/26 03:25:38 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b4f97bfa98234ac58b2991d6ac0a18a9	[json_eval_task_sampler.py: 648]
+05/26 03:25:38 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/03f1185ff6d4428fa81f6fc9db589338	[json_eval_task_sampler.py: 648]
+05/26 03:25:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4545_ceiling.xml	[task_sampler.py: 797]
+05/26 03:25:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4545, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:25:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:25:41 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects	[json_eval_task_sampler.py: 686]
+05/26 03:25:41 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:25:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:25:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:25:41 INFO: [Worker 0] Sampled task 'Pick up the black and green ergonomic screwdriver and place it in or on the round gray handmade shallow bowl'	[task_sampler.py: 1136]
+05/26 03:25:41 INFO: [Worker 0] Worker 0 house 4545 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:25:42 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:25:42 WARNING: [Worker 0] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene	[object_manager.py: 1238]
+05/26 03:25:42 WARNING: [Worker 0] Could not find object objapocketwatch_dbb40c6f9226401f88230d46a12fa50f_1_0_5 in scene	[object_manager.py: 1238]
+05/26 03:25:42 WARNING: [Worker 0] Could not find object objalogo_de1cf01f0b664aa5bc031db15d7686d2_1_0_6 in scene	[object_manager.py: 1238]
+05/26 03:25:42 WARNING: [Worker 0] Could not find object plate_3c4427455eeccda33c6e6db585f41627_1_0_6 in scene	[object_manager.py: 1238]
+05/26 03:25:42 WARNING: [Worker 0] Could not find object objaminiaturemodel_5ab1392182d345b49b3391f7776339e9_1_0_6 in scene	[object_manager.py: 1238]
+05/26 03:25:42 WARNING: [Worker 0] Could not find object objapastry_76c0179636324a60bcf8cda8496a1fc7_1_0_6 in scene	[object_manager.py: 1238]
+05/26 03:37:39 INFO: [Worker 0] Worker 0 house 4545 episode 0 object objascrewdriver_240935915a744929914369cc12816ab2_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 03:37:45 INFO: [Worker 0] Batching and saving trajectory data for house_4545: 1 episodes	[pipeline.py: 233]
+05/26 03:37:45 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:37:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:37:48 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4545	[save_utils.py: 703]
+05/26 03:37:48 INFO: [Worker 0] Successfully saved trajectory data for house_4545 in 3.18s (batch: 3.06s, save: 0.13s)	[pipeline.py: 280]
+05/26 03:37:49 WARNING: [Worker 0] No trajectory data to save for house_4545	[pipeline.py: 229]
+05/26 03:37:49 INFO: [Worker 0] Worker 0 completed house 4545: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:37:49 INFO: [Worker 0] Worker 0 starting house 4600 (index 14/36)	[pipeline.py: 473]
+05/26 03:37:49 INFO: [Worker 0] Loaded 1 episodes for house 4600 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_01	[json_eval_runner.py: 278]
+05/26 03:37:49 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 03:38:04 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/54c702aeeb634157ab6bfd6c2f7a78c2	[json_eval_task_sampler.py: 648]
+05/26 03:38:04 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/836b48b21dcb4842a208c66f106abf18	[json_eval_task_sampler.py: 648]
+05/26 03:38:04 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_9	[json_eval_task_sampler.py: 648]
+05/26 03:38:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4600_ceiling.xml	[task_sampler.py: 797]
+05/26 03:38:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4600, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:38:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:38:12 INFO: [Worker 0] randomize_scene: Setting poses for 100 objects	[json_eval_task_sampler.py: 686]
+05/26 03:38:12 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:38:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:38:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:38:12 INFO: [Worker 0] Sampled task 'Pick up the yellow kitchen knife with blue bolster and place it in or on the black bowl with grid'	[task_sampler.py: 1136]
+05/26 03:38:12 INFO: [Worker 0] Worker 0 house 4600 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:38:12 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:38:12 WARNING: [Worker 0] Could not find object objakitchenutensil_c039015dad6245cabd9044c67ada4252_1_0_2 in scene	[object_manager.py: 1238]
+05/26 03:38:12 WARNING: [Worker 0] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene	[object_manager.py: 1238]
+05/26 03:38:12 WARNING: [Worker 0] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene	[object_manager.py: 1238]
+05/26 03:38:12 WARNING: [Worker 0] Could not find object objanecklace_6c0291d03378411d96d26cc95e398a73_1_0_9 in scene	[object_manager.py: 1238]
+05/26 03:38:12 WARNING: [Worker 0] Could not find object objadressshoe_dc620e458adb44cdb9a0878e5a7e1630_1_0_9 in scene	[object_manager.py: 1238]
+05/26 03:46:16 INFO: [Worker 0] Worker 0 house 4600 episode 0 object knife_2933d9425c8587a7d4ddaae661ac7598_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 03:46:19 INFO: [Worker 0] Batching and saving trajectory data for house_4600: 1 episodes	[pipeline.py: 233]
+05/26 03:46:19 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:46:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:46:22 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4600	[save_utils.py: 703]
+05/26 03:46:22 INFO: [Worker 0] Successfully saved trajectory data for house_4600 in 2.86s (batch: 2.77s, save: 0.09s)	[pipeline.py: 280]
+05/26 03:46:23 WARNING: [Worker 0] No trajectory data to save for house_4600	[pipeline.py: 229]
+05/26 03:46:23 INFO: [Worker 0] Worker 0 completed house 4600: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:46:23 INFO: [Worker 0] Worker 0 starting house 4644 (index 15/36)	[pipeline.py: 473]
+05/26 03:46:23 INFO: [Worker 0] Loaded 1 episodes for house 4644 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_01	[json_eval_runner.py: 278]
+05/26 03:46:23 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 03:46:29 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/934bd78c490140198db542aee7f765fa	[json_eval_task_sampler.py: 648]
+05/26 03:46:29 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b8cba8b5a69543ce9875c40028261490	[json_eval_task_sampler.py: 648]
+05/26 03:46:29 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/cfe3c9eed1554f59ad7756e27d97c667	[json_eval_task_sampler.py: 648]
+05/26 03:46:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4644_ceiling.xml	[task_sampler.py: 797]
+05/26 03:46:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4644, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:46:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:46:30 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects	[json_eval_task_sampler.py: 686]
+05/26 03:46:30 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:46:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:46:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:46:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:46:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:46:30 INFO: [Worker 0] Sampled task 'Pick up the creamy ice cream with sprinkles and place it in or on the decorative maroon floral box'	[task_sampler.py: 1136]
+05/26 03:46:30 INFO: [Worker 0] Worker 0 house 4644 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:46:31 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:49:20 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]
+05/26 03:53:24 INFO: [Worker 0] Worker 0 house 4644 episode 0 object objaicecreamcone_cc5e3d70ebba4215890504ea311252ba_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 03:53:30 INFO: [Worker 0] Batching and saving trajectory data for house_4644: 1 episodes	[pipeline.py: 233]
+05/26 03:53:30 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:53:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:53:34 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4644	[save_utils.py: 703]
+05/26 03:53:34 INFO: [Worker 0] Successfully saved trajectory data for house_4644 in 4.43s (batch: 4.27s, save: 0.16s)	[pipeline.py: 280]
+05/26 03:53:35 WARNING: [Worker 0] No trajectory data to save for house_4644	[pipeline.py: 229]
+05/26 03:53:35 INFO: [Worker 0] Worker 0 completed house 4644: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:53:35 INFO: [Worker 0] Worker 0 starting house 4702 (index 16/36)	[pipeline.py: 473]
+05/26 03:53:35 INFO: [Worker 0] Loaded 1 episodes for house 4702 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_01	[json_eval_runner.py: 278]
+05/26 03:53:35 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]
+05/26 03:53:42 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/63211cbfb48044bcbdbbd30a3aa3bb75	[json_eval_task_sampler.py: 648]
+05/26 03:53:42 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/50be4f8b8f744730878916aa38b0f08f	[json_eval_task_sampler.py: 648]
+05/26 03:53:42 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/576495fa2f9749adaca89aa604aa68b0	[json_eval_task_sampler.py: 648]
+05/26 03:53:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4702_ceiling.xml	[task_sampler.py: 797]
+05/26 03:53:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4702, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:53:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:53:46 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects	[json_eval_task_sampler.py: 686]
+05/26 03:53:46 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:53:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:53:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:53:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:53:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:53:46 INFO: [Worker 0] Sampled task 'Pick up the gold foil chocolate bunny with ribbon and place it in or on the brown wooden leaf tray'	[task_sampler.py: 1136]
+05/26 03:53:46 INFO: [Worker 0] Worker 0 house 4702 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:53:46 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:56:39 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 03:59:45 INFO: [Worker 0] Worker 0 house 4702 episode 0 object objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 03:59:49 INFO: [Worker 0] Batching and saving trajectory data for house_4702: 1 episodes	[pipeline.py: 233]
+05/26 03:59:49 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:59:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:59:53 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4702	[save_utils.py: 703]
+05/26 03:59:53 INFO: [Worker 0] Successfully saved trajectory data for house_4702 in 3.35s (batch: 3.23s, save: 0.13s)	[pipeline.py: 280]
+05/26 03:59:53 WARNING: [Worker 0] No trajectory data to save for house_4702	[pipeline.py: 229]
+05/26 03:59:53 INFO: [Worker 0] Worker 0 completed house 4702: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:59:53 INFO: [Worker 0] Worker 0 starting house 4727 (index 17/36)	[pipeline.py: 473]
+05/26 03:59:53 INFO: [Worker 0] Loaded 2 episodes for house 4727 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_01	[json_eval_runner.py: 278]
+05/26 03:59:53 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]
+05/26 04:00:03 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/fdfd829fe39049a69f6df2289b29dc7f	[json_eval_task_sampler.py: 648]
+05/26 04:00:03 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ede795f1c6f74a99b6952183f340fcb8	[json_eval_task_sampler.py: 648]
+05/26 04:00:03 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_28	[json_eval_task_sampler.py: 648]
+05/26 04:00:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4727_ceiling.xml	[task_sampler.py: 797]
+05/26 04:00:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4727, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:00:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:00:10 INFO: [Worker 0] randomize_scene: Setting poses for 97 objects	[json_eval_task_sampler.py: 686]
+05/26 04:00:10 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:00:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:00:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:00:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:00:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:00:10 INFO: [Worker 0] Sampled task 'Pick up the toy soldier with rifle and place it in or on the green bowl'	[task_sampler.py: 1136]
+05/26 04:00:10 INFO: [Worker 0] Worker 0 house 4727 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 04:00:11 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:00:11 WARNING: [Worker 0] Could not find object objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_4 in scene	[object_manager.py: 1238]
+05/26 04:00:11 WARNING: [Worker 0] Could not find object objatoyrocket_f2c0811c3fc24bcb99a7c96acaf5a793_1_0_4 in scene	[object_manager.py: 1238]
+05/26 04:00:11 WARNING: [Worker 0] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_4 in scene	[object_manager.py: 1238]
+05/26 04:00:11 WARNING: [Worker 0] Could not find object objapocketwatch_1dbb7462a3e04e918023f6fec7743ee2_1_0_5 in scene	[object_manager.py: 1238]
+05/26 04:03:40 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]
+05/26 04:07:17 INFO: [Worker 0] Worker 0 house 4727 episode 0 object objatoysoldier_966ecae1911843adbf05131eeb7c63cb_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/26 04:07:21 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 04:07:23 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/fdfd829fe39049a69f6df2289b29dc7f	[json_eval_task_sampler.py: 648]
+05/26 04:07:23 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ede795f1c6f74a99b6952183f340fcb8	[json_eval_task_sampler.py: 648]
+05/26 04:07:23 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_28	[json_eval_task_sampler.py: 648]
+05/26 04:07:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4727_ceiling.xml	[task_sampler.py: 797]
+05/26 04:07:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4727, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:07:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:07:28 INFO: [Worker 0] randomize_scene: Setting poses for 97 objects	[json_eval_task_sampler.py: 686]
+05/26 04:07:28 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:07:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:07:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:07:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:07:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:07:28 INFO: [Worker 0] Sampled task 'Pick up the blue sponge and place it in or on the blue cooking pot with handles'	[task_sampler.py: 1136]
+05/26 04:07:28 INFO: [Worker 0] Worker 0 house 4727 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 04:07:28 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:07:28 WARNING: [Worker 0] Could not find object objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_4 in scene	[object_manager.py: 1238]
+05/26 04:07:28 WARNING: [Worker 0] Could not find object objatoyrocket_f2c0811c3fc24bcb99a7c96acaf5a793_1_0_4 in scene	[object_manager.py: 1238]
+05/26 04:07:28 WARNING: [Worker 0] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_4 in scene	[object_manager.py: 1238]
+05/26 04:07:28 WARNING: [Worker 0] Could not find object objapocketwatch_1dbb7462a3e04e918023f6fec7743ee2_1_0_5 in scene	[object_manager.py: 1238]
+05/26 04:10:26 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 04:16:16 INFO: [Worker 0] Worker 0 house 4727 episode 1 object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/26 04:16:22 INFO: [Worker 0] Batching and saving trajectory data for house_4727: 2 episodes	[pipeline.py: 233]
+05/26 04:16:22 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:16:26 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:16:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:16:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:16:30 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4727	[save_utils.py: 703]
+05/26 04:16:30 INFO: [Worker 0] Successfully saved trajectory data for house_4727 in 7.69s (batch: 7.33s, save: 0.36s)	[pipeline.py: 280]
+05/26 04:16:31 WARNING: [Worker 0] No trajectory data to save for house_4727	[pipeline.py: 229]
+05/26 04:16:31 INFO: [Worker 0] Worker 0 completed house 4727: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 04:16:31 INFO: [Worker 0] Worker 0 starting house 4742 (index 18/36)	[pipeline.py: 473]
+05/26 04:16:31 INFO: [Worker 0] Loaded 1 episodes for house 4742 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_01	[json_eval_runner.py: 278]
+05/26 04:16:31 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]
+05/26 04:16:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/4c75946736424e5397f4eadd336e0bf1	[json_eval_task_sampler.py: 648]
+05/26 04:16:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/372c4540cbe148b9bddcbbf1761b5e81	[json_eval_task_sampler.py: 648]
+05/26 04:16:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4058303001a4878bbe5c3f248dedd78	[json_eval_task_sampler.py: 648]
+05/26 04:16:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4742_ceiling.xml	[task_sampler.py: 797]
+05/26 04:16:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4742, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:16:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:16:36 INFO: [Worker 0] randomize_scene: Setting poses for 9 objects	[json_eval_task_sampler.py: 686]
+05/26 04:16:36 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:16:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:16:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:16:36 INFO: [Worker 0] Sampled task 'Pick up the switch plate and place it in or on the rustic brown coconut bowl'	[task_sampler.py: 1136]
+05/26 04:16:36 INFO: [Worker 0] Worker 0 house 4742 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:16:36 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:16:36 WARNING: [Worker 0] Could not find object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_2_0_2 in scene	[object_manager.py: 1238]
+05/26 04:16:36 WARNING: [Worker 0] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_2 in scene	[object_manager.py: 1238]
+05/26 04:22:47 INFO: [Worker 0] Worker 0 house 4742 episode 0 object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 04:22:51 INFO: [Worker 0] Batching and saving trajectory data for house_4742: 1 episodes	[pipeline.py: 233]
+05/26 04:22:51 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:22:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:22:54 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4742	[save_utils.py: 703]
+05/26 04:22:54 INFO: [Worker 0] Successfully saved trajectory data for house_4742 in 2.73s (batch: 2.60s, save: 0.13s)	[pipeline.py: 280]
+05/26 04:22:55 WARNING: [Worker 0] No trajectory data to save for house_4742	[pipeline.py: 229]
+05/26 04:22:55 INFO: [Worker 0] Worker 0 completed house 4742: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:22:55 INFO: [Worker 0] Worker 0 starting house 4773 (index 19/36)	[pipeline.py: 473]
+05/26 04:22:55 INFO: [Worker 0] Loaded 1 episodes for house 4773 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_01	[json_eval_runner.py: 278]
+05/26 04:22:55 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 04:22:59 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/836b48b21dcb4842a208c66f106abf18	[json_eval_task_sampler.py: 648]
+05/26 04:22:59 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/7d2737e16fcf4d40bc549521ba6a2d02	[json_eval_task_sampler.py: 648]
+05/26 04:22:59 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bfae6fa9a7f64b9eb16f57c05553c612	[json_eval_task_sampler.py: 648]
+05/26 04:23:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4773_ceiling.xml	[task_sampler.py: 797]
+05/26 04:23:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4773, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:23:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:23:02 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects	[json_eval_task_sampler.py: 686]
+05/26 04:23:02 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:23:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:23:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:23:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:23:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:23:02 INFO: [Worker 0] Sampled task 'Pick up the digital music player and place it in or on the rustic bowl'	[task_sampler.py: 1136]
+05/26 04:23:02 INFO: [Worker 0] Worker 0 house 4773 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:23:02 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:25:14 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]
+05/26 04:30:07 INFO: [Worker 0] Worker 0 house 4773 episode 0 object objadigitalmusicplayer_718d4a2a12e8402faa7af85890acb08c_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 04:30:12 INFO: [Worker 0] Batching and saving trajectory data for house_4773: 1 episodes	[pipeline.py: 233]
+05/26 04:30:12 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:30:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:30:16 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4773	[save_utils.py: 703]
+05/26 04:30:16 INFO: [Worker 0] Successfully saved trajectory data for house_4773 in 3.76s (batch: 3.63s, save: 0.14s)	[pipeline.py: 280]
+05/26 04:30:16 WARNING: [Worker 0] No trajectory data to save for house_4773	[pipeline.py: 229]
+05/26 04:30:16 INFO: [Worker 0] Worker 0 completed house 4773: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:30:16 INFO: [Worker 0] Worker 0 starting house 4807 (index 20/36)	[pipeline.py: 473]
+05/26 04:30:16 INFO: [Worker 0] Loaded 1 episodes for house 4807 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_01	[json_eval_runner.py: 278]
+05/26 04:30:16 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 04:30:17 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/53c885e05492439cace4cc626fec00cc	[json_eval_task_sampler.py: 648]
+05/26 04:30:17 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_4	[json_eval_task_sampler.py: 648]
+05/26 04:30:17 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0e668fe03f564822ac2c97212f8b420a	[json_eval_task_sampler.py: 648]
+05/26 04:30:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4807_ceiling.xml	[task_sampler.py: 797]
+05/26 04:30:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4807, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:30:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:30:19 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects	[json_eval_task_sampler.py: 686]
+05/26 04:30:19 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:30:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:30:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:30:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:30:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:30:19 INFO: [Worker 0] Sampled task 'Pick up the slender wooden stick with markings and place it in or on the rectangular plastic tray with slot'	[task_sampler.py: 1136]
+05/26 04:30:19 INFO: [Worker 0] Worker 0 house 4807 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:30:19 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:33:24 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]
+05/26 04:35:59 INFO: [Worker 0] Worker 0 house 4807 episode 0 object objawoodenstick_1bd5fecf74bf4cdb987da156d2c0ac96_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 04:36:02 INFO: [Worker 0] Batching and saving trajectory data for house_4807: 1 episodes	[pipeline.py: 233]
+05/26 04:36:02 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:36:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:36:05 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4807	[save_utils.py: 703]
+05/26 04:36:05 INFO: [Worker 0] Successfully saved trajectory data for house_4807 in 2.95s (batch: 2.78s, save: 0.16s)	[pipeline.py: 280]
+05/26 04:36:05 WARNING: [Worker 0] No trajectory data to save for house_4807	[pipeline.py: 229]
+05/26 04:36:05 INFO: [Worker 0] Worker 0 completed house 4807: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:36:05 INFO: [Worker 0] Worker 0 starting house 4860 (index 21/36)	[pipeline.py: 473]
+05/26 04:36:05 INFO: [Worker 0] Loaded 1 episodes for house 4860 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_01	[json_eval_runner.py: 278]
+05/26 04:36:05 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]
+05/26 04:36:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b4351af051964283968b5fed441ee844	[json_eval_task_sampler.py: 648]
+05/26 04:36:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/660bfdd0e9144271acdc116632297395	[json_eval_task_sampler.py: 648]
+05/26 04:36:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/1df7263c6e094645987c61c5d60e67d5	[json_eval_task_sampler.py: 648]
+05/26 04:36:10 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/26 04:36:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4860_ceiling.xml	[task_sampler.py: 797]
+05/26 04:36:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4860, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:36:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:36:14 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects	[json_eval_task_sampler.py: 686]
+05/26 04:36:14 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:36:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:36:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:36:14 INFO: [Worker 0] Sampled task 'Pick up the glossy orange oval metal ring and place it in or on the frosted glass bowl'	[task_sampler.py: 1136]
+05/26 04:36:14 INFO: [Worker 0] Worker 0 house 4860 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:36:14 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:36:14 WARNING: [Worker 0] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_7 in scene	[object_manager.py: 1238]
+05/26 04:37:43 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 04:40:03 INFO: [Worker 0] Worker 0 house 4860 episode 0 object objametalring_43d9083d869849ed9a6f6c8cbdd7ad54_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 04:40:07 INFO: [Worker 0] Batching and saving trajectory data for house_4860: 1 episodes	[pipeline.py: 233]
+05/26 04:40:07 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:40:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:40:10 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4860	[save_utils.py: 703]
+05/26 04:40:10 INFO: [Worker 0] Successfully saved trajectory data for house_4860 in 2.79s (batch: 2.70s, save: 0.10s)	[pipeline.py: 280]
+05/26 04:40:11 WARNING: [Worker 0] No trajectory data to save for house_4860	[pipeline.py: 229]
+05/26 04:40:11 INFO: [Worker 0] Worker 0 completed house 4860: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:40:11 INFO: [Worker 0] Worker 0 starting house 4933 (index 22/36)	[pipeline.py: 473]
+05/26 04:40:11 INFO: [Worker 0] Loaded 1 episodes for house 4933 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_01	[json_eval_runner.py: 278]
+05/26 04:40:11 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]
+05/26 04:40:24 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0aab5f2a6f744c13bffef0fccf53c0e0	[json_eval_task_sampler.py: 648]
+05/26 04:40:24 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/4b5c2f816e814756960ac3be616fd29d	[json_eval_task_sampler.py: 648]
+05/26 04:40:24 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/4bf7b7b26a704818b1ed3d703a11855b	[json_eval_task_sampler.py: 648]
+05/26 04:40:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4933_ceiling.xml	[task_sampler.py: 797]
+05/26 04:40:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4933, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:40:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:40:28 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects	[json_eval_task_sampler.py: 686]
+05/26 04:40:28 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:40:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:40:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:40:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:40:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:40:28 INFO: [Worker 0] Sampled task 'Pick up the vintage metal lever on dark wooden base and place it in or on the blue decorative ceramic bottle'	[task_sampler.py: 1136]
+05/26 04:40:28 INFO: [Worker 0] Worker 0 house 4933 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:40:28 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:40:28 WARNING: [Worker 0] Could not find object objadecorativesign_70e7e629b1a4405d8227a2f54e0973b9_1_0_2 in scene	[object_manager.py: 1238]
+05/26 04:40:28 WARNING: [Worker 0] Could not find object egg_7331ece1e05e35ccf61e870ea8948aac_1_0_2 in scene	[object_manager.py: 1238]
+05/26 04:46:12 INFO: [Worker 0] Worker 0 house 4933 episode 0 object objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 04:46:16 INFO: [Worker 0] Batching and saving trajectory data for house_4933: 1 episodes	[pipeline.py: 233]
+05/26 04:46:16 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:46:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:46:19 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4933	[save_utils.py: 703]
+05/26 04:46:19 INFO: [Worker 0] Successfully saved trajectory data for house_4933 in 3.05s (batch: 2.93s, save: 0.12s)	[pipeline.py: 280]
+05/26 04:46:20 WARNING: [Worker 0] No trajectory data to save for house_4933	[pipeline.py: 229]
+05/26 04:46:20 INFO: [Worker 0] Worker 0 completed house 4933: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:46:20 INFO: [Worker 0] Worker 0 starting house 4983 (index 23/36)	[pipeline.py: 473]
+05/26 04:46:20 INFO: [Worker 0] Loaded 1 episodes for house 4983 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_01	[json_eval_runner.py: 278]
+05/26 04:46:20 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 04:46:40 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_6	[json_eval_task_sampler.py: 648]
+05/26 04:46:40 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/80f09dd8b3d34005b3625823091978af	[json_eval_task_sampler.py: 648]
+05/26 04:46:40 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/f9561598da77463f9eb6fecd4bc301b5	[json_eval_task_sampler.py: 648]
+05/26 04:46:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4983_ceiling.xml	[task_sampler.py: 797]
+05/26 04:46:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4983, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:46:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:46:48 INFO: [Worker 0] randomize_scene: Setting poses for 114 objects	[json_eval_task_sampler.py: 686]
+05/26 04:46:48 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:46:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:46:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:46:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:46:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:46:48 INFO: [Worker 0] Sampled task 'Pick up the wooden gavel and place it in or on the decorative bowl'	[task_sampler.py: 1136]
+05/26 04:46:48 INFO: [Worker 0] Worker 0 house 4983 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:46:48 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:54:07 INFO: [Worker 0] Worker 0 house 4983 episode 0 object objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 04:54:11 INFO: [Worker 0] Batching and saving trajectory data for house_4983: 1 episodes	[pipeline.py: 233]
+05/26 04:54:11 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:54:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:54:14 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4983	[save_utils.py: 703]
+05/26 04:54:14 INFO: [Worker 0] Successfully saved trajectory data for house_4983 in 3.08s (batch: 2.99s, save: 0.09s)	[pipeline.py: 280]
+05/26 04:54:15 WARNING: [Worker 0] No trajectory data to save for house_4983	[pipeline.py: 229]
+05/26 04:54:15 INFO: [Worker 0] Worker 0 completed house 4983: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:54:15 INFO: [Worker 0] Worker 0 starting house 5023 (index 24/36)	[pipeline.py: 473]
+05/26 04:54:15 INFO: [Worker 0] Loaded 1 episodes for house 5023 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_01	[json_eval_runner.py: 278]
+05/26 04:54:15 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 04:54:27 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/56dccb62700a4c04b42646e060c087f5	[json_eval_task_sampler.py: 648]
+05/26 04:54:27 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/561e6757555049fca93f56e479f7cbe4	[json_eval_task_sampler.py: 648]
+05/26 04:54:27 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/934bd78c490140198db542aee7f765fa	[json_eval_task_sampler.py: 648]
+05/26 04:54:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5023_ceiling.xml	[task_sampler.py: 797]
+05/26 04:54:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5023, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:54:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:54:32 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects	[json_eval_task_sampler.py: 686]
+05/26 04:54:32 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:54:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:54:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:54:32 INFO: [Worker 0] Sampled task 'Pick up the black rectangular network switch and place it in or on the round bowl'	[task_sampler.py: 1136]
+05/26 04:54:32 INFO: [Worker 0] Worker 0 house 5023 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:54:32 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:54:32 WARNING: [Worker 0] Could not find object objacrystalcluster_5cfc211a49164bf2835a121b5069ee08_1_0_7 in scene	[object_manager.py: 1238]
+05/26 04:54:32 WARNING: [Worker 0] Could not find object objamarkerpen_9ded8666275148929a57190ab939c735_1_0_7 in scene	[object_manager.py: 1238]
+05/26 04:56:22 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]
+05/26 05:00:22 INFO: [Worker 0] Worker 0 house 5023 episode 0 object objanetworkswitch_94d0fae6892d48399d1a42a4313c0184_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 05:00:27 INFO: [Worker 0] Batching and saving trajectory data for house_5023: 1 episodes	[pipeline.py: 233]
+05/26 05:00:27 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:00:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:00:30 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5023	[save_utils.py: 703]
+05/26 05:00:30 INFO: [Worker 0] Successfully saved trajectory data for house_5023 in 3.24s (batch: 2.92s, save: 0.32s)	[pipeline.py: 280]
+05/26 05:00:31 WARNING: [Worker 0] No trajectory data to save for house_5023	[pipeline.py: 229]
+05/26 05:00:31 INFO: [Worker 0] Worker 0 completed house 5023: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 05:00:31 INFO: [Worker 0] Worker 0 starting house 5048 (index 25/36)	[pipeline.py: 473]
+05/26 05:00:31 INFO: [Worker 0] Loaded 2 episodes for house 5048 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_01	[json_eval_runner.py: 278]
+05/26 05:00:31 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]
+05/26 05:00:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bdd36c94f3f74f22b02b8a069c8d97b7	[json_eval_task_sampler.py: 648]
+05/26 05:00:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c2bd80794a3947238fe610f5733be9d2	[json_eval_task_sampler.py: 648]
+05/26 05:00:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/94f253a91bc14f21be83592faf5891ff	[json_eval_task_sampler.py: 648]
+05/26 05:00:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5048_ceiling.xml	[task_sampler.py: 797]
+05/26 05:00:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5048, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:00:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:00:38 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects	[json_eval_task_sampler.py: 686]
+05/26 05:00:38 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:00:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:00:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:00:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:00:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:00:38 INFO: [Worker 0] Sampled task 'Pick up the printedcircuitboard and place it in or on the smooth gray bowl'	[task_sampler.py: 1136]
+05/26 05:00:38 INFO: [Worker 0] Worker 0 house 5048 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 05:00:39 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:00:39 WARNING: [Worker 0] Could not find object objapuzzle_c96dad7a8d9f459e83a1cbeeb7370d55_1_0_3 in scene	[object_manager.py: 1238]
+05/26 05:07:10 INFO: [Worker 0] Worker 0 house 5048 episode 0 object objaprintedcircuitboard_0c1eb50df8de4c2d9d4d694014204d86_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 05:07:14 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 05:07:16 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bdd36c94f3f74f22b02b8a069c8d97b7	[json_eval_task_sampler.py: 648]
+05/26 05:07:16 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c2bd80794a3947238fe610f5733be9d2	[json_eval_task_sampler.py: 648]
+05/26 05:07:16 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/94f253a91bc14f21be83592faf5891ff	[json_eval_task_sampler.py: 648]
+05/26 05:07:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5048_ceiling.xml	[task_sampler.py: 797]
+05/26 05:07:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5048, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:07:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:07:21 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects	[json_eval_task_sampler.py: 686]
+05/26 05:07:21 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:07:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:07:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:07:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:07:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:07:21 INFO: [Worker 0] Sampled task 'Pick up the blocky pixelated green soldier and place it in or on the smooth gray bowl'	[task_sampler.py: 1136]
+05/26 05:07:21 INFO: [Worker 0] Worker 0 house 5048 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 05:07:22 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:07:22 WARNING: [Worker 0] Could not find object objapuzzle_c96dad7a8d9f459e83a1cbeeb7370d55_1_0_3 in scene	[object_manager.py: 1238]
+05/26 05:16:19 INFO: [Worker 0] Worker 0 house 5048 episode 1 object objatoysoldier_8f055c6314cd4e6cb1f4236d145f5179_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 05:16:25 INFO: [Worker 0] Batching and saving trajectory data for house_5048: 2 episodes	[pipeline.py: 233]
+05/26 05:16:26 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:16:29 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:16:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:16:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:16:33 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5048	[save_utils.py: 703]
+05/26 05:16:33 INFO: [Worker 0] Successfully saved trajectory data for house_5048 in 7.16s (batch: 6.76s, save: 0.40s)	[pipeline.py: 280]
+05/26 05:16:33 WARNING: [Worker 0] No trajectory data to save for house_5048	[pipeline.py: 229]
+05/26 05:16:33 INFO: [Worker 0] Worker 0 completed house 5048: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 05:16:33 INFO: [Worker 0] Worker 0 starting house 5116 (index 26/36)	[pipeline.py: 473]
+05/26 05:16:33 INFO: [Worker 0] Loaded 1 episodes for house 5116 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_01	[json_eval_runner.py: 278]
+05/26 05:16:33 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]
+05/26 05:16:41 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/472cceee5a224ff6933e7baf31d16641	[json_eval_task_sampler.py: 648]
+05/26 05:16:41 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/8c419f6d0cbc4580a2e2b9d273969b97	[json_eval_task_sampler.py: 648]
+05/26 05:16:41 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2911e8c87d49402c9e3c18277c8b2b2a	[json_eval_task_sampler.py: 648]
+05/26 05:16:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5116_ceiling.xml	[task_sampler.py: 797]
+05/26 05:16:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5116, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:16:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:16:45 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects	[json_eval_task_sampler.py: 686]
+05/26 05:16:45 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:16:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:16:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:16:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:16:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:16:45 INFO: [Worker 0] Sampled task 'Pick up the cine-camera and place it in or on the round shallow small beige bowl'	[task_sampler.py: 1136]
+05/26 05:16:45 INFO: [Worker 0] Worker 0 house 5116 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 05:16:46 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:19:51 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 05:23:28 INFO: [Worker 0] Worker 0 house 5116 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 05:23:32 INFO: [Worker 0] Batching and saving trajectory data for house_5116: 1 episodes	[pipeline.py: 233]
+05/26 05:23:32 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:23:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:23:36 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5116	[save_utils.py: 703]
+05/26 05:23:36 INFO: [Worker 0] Successfully saved trajectory data for house_5116 in 3.79s (batch: 3.63s, save: 0.16s)	[pipeline.py: 280]
+05/26 05:23:37 WARNING: [Worker 0] No trajectory data to save for house_5116	[pipeline.py: 229]
+05/26 05:23:37 INFO: [Worker 0] Worker 0 completed house 5116: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 05:23:37 INFO: [Worker 0] Worker 0 starting house 5165 (index 27/36)	[pipeline.py: 473]
+05/26 05:23:37 INFO: [Worker 0] Loaded 1 episodes for house 5165 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_01	[json_eval_runner.py: 278]
+05/26 05:23:37 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]
+05/26 05:23:43 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_26	[json_eval_task_sampler.py: 648]
+05/26 05:23:43 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bcf3a4e49ee14eeda2faca7c7455161d	[json_eval_task_sampler.py: 648]
+05/26 05:23:43 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/55bd2652583048adb5f261974f28b134	[json_eval_task_sampler.py: 648]
+05/26 05:23:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5165_ceiling.xml	[task_sampler.py: 797]
+05/26 05:23:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5165, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:23:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:23:49 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects	[json_eval_task_sampler.py: 686]
+05/26 05:23:49 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:23:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:23:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:23:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:23:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:23:49 INFO: [Worker 0] Sampled task 'Pick up the kendama with purple ball and place it in or on the smooth gray medium bowl'	[task_sampler.py: 1136]
+05/26 05:23:49 INFO: [Worker 0] Worker 0 house 5165 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 05:23:49 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:27:52 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 05:31:32 INFO: [Worker 0] Worker 0 house 5165 episode 0 object objakendama_66f39ae4147c4fe2ae6d80baf2472e15_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/26 05:31:36 INFO: [Worker 0] Batching and saving trajectory data for house_5165: 1 episodes	[pipeline.py: 233]
+05/26 05:31:36 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:31:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:31:40 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5165	[save_utils.py: 703]
+05/26 05:31:40 INFO: [Worker 0] Successfully saved trajectory data for house_5165 in 3.22s (batch: 3.08s, save: 0.13s)	[pipeline.py: 280]
+05/26 05:31:40 WARNING: [Worker 0] No trajectory data to save for house_5165	[pipeline.py: 229]
+05/26 05:31:40 INFO: [Worker 0] Worker 0 completed house 5165: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 05:31:40 INFO: [Worker 0] Worker 0 starting house 5219 (index 28/36)	[pipeline.py: 473]
+05/26 05:31:40 INFO: [Worker 0] Loaded 1 episodes for house 5219 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_01	[json_eval_runner.py: 278]
+05/26 05:31:40 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 05:31:48 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/4b5c2f816e814756960ac3be616fd29d	[json_eval_task_sampler.py: 648]
+05/26 05:31:48 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a5cb193f76ec4158b6e2fc655fa4ba92	[json_eval_task_sampler.py: 648]
+05/26 05:31:48 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/15607bdf52a64f81a7555de4cfad4029	[json_eval_task_sampler.py: 648]
+05/26 05:31:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5219_ceiling.xml	[task_sampler.py: 797]
+05/26 05:31:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5219, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:31:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:31:53 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects	[json_eval_task_sampler.py: 686]
+05/26 05:31:53 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:31:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:31:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:31:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:31:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:31:53 INFO: [Worker 0] Sampled task 'Pick up the gray aerosol can with nozzle and place it in or on the round brown bowl'	[task_sampler.py: 1136]
+05/26 05:31:53 INFO: [Worker 0] Worker 0 house 5219 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 05:31:53 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:31:53 WARNING: [Worker 0] Could not find object objainsect_016576dd30c1464f9115584748950ed2_1_0_2 in scene	[object_manager.py: 1238]
+05/26 05:31:53 WARNING: [Worker 0] Could not find object apple_1d4990dc37d751a859248eaa9d6ecea0_1_0_2 in scene	[object_manager.py: 1238]
+05/26 05:35:06 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]
+05/26 05:38:46 INFO: [Worker 0] Worker 0 house 5219 episode 0 object objaaerosolcan_d31366b00ec64a42a05c1eb8a49f346c_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/26 05:38:50 INFO: [Worker 0] Batching and saving trajectory data for house_5219: 1 episodes	[pipeline.py: 233]
+05/26 05:38:50 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:38:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:38:53 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5219	[save_utils.py: 703]
+05/26 05:38:53 INFO: [Worker 0] Successfully saved trajectory data for house_5219 in 3.11s (batch: 2.99s, save: 0.13s)	[pipeline.py: 280]
+05/26 05:38:54 WARNING: [Worker 0] No trajectory data to save for house_5219	[pipeline.py: 229]
+05/26 05:38:54 INFO: [Worker 0] Worker 0 completed house 5219: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 05:38:54 INFO: [Worker 0] Worker 0 starting house 5291 (index 29/36)	[pipeline.py: 473]
+05/26 05:38:54 INFO: [Worker 0] Loaded 1 episodes for house 5291 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_01	[json_eval_runner.py: 278]
+05/26 05:38:54 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 05:39:03 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/cbb67bbbe42e42189931574ce0d4926d	[json_eval_task_sampler.py: 648]
+05/26 05:39:03 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/54c702aeeb634157ab6bfd6c2f7a78c2	[json_eval_task_sampler.py: 648]
+05/26 05:39:03 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/660bfdd0e9144271acdc116632297395	[json_eval_task_sampler.py: 648]
+05/26 05:39:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5291_ceiling.xml	[task_sampler.py: 797]
+05/26 05:39:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5291, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:39:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:39:07 INFO: [Worker 0] randomize_scene: Setting poses for 75 objects	[json_eval_task_sampler.py: 686]
+05/26 05:39:07 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:39:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:39:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:39:07 INFO: [Worker 0] Sampled task 'Pick up the small green baking packet and place it in or on the rustic stone bowl with bird spout'	[task_sampler.py: 1136]
+05/26 05:39:07 INFO: [Worker 0] Worker 0 house 5291 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 05:39:07 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:39:08 WARNING: [Worker 0] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_7 in scene	[object_manager.py: 1238]
+05/26 05:42:10 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]
+05/26 05:48:14 INFO: [Worker 0] Worker 0 house 5291 episode 0 object objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/26 05:48:19 INFO: [Worker 0] Batching and saving trajectory data for house_5291: 1 episodes	[pipeline.py: 233]
+05/26 05:48:19 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:48:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:48:22 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5291	[save_utils.py: 703]
+05/26 05:48:22 INFO: [Worker 0] Successfully saved trajectory data for house_5291 in 3.69s (batch: 3.53s, save: 0.16s)	[pipeline.py: 280]
+05/26 05:48:23 WARNING: [Worker 0] No trajectory data to save for house_5291	[pipeline.py: 229]
+05/26 05:48:23 INFO: [Worker 0] Worker 0 completed house 5291: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 05:48:23 INFO: [Worker 0] Worker 0 starting house 5361 (index 30/36)	[pipeline.py: 473]
+05/26 05:48:23 INFO: [Worker 0] Loaded 1 episodes for house 5361 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_01	[json_eval_runner.py: 278]
+05/26 05:48:23 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 05:48:26 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0	[json_eval_task_sampler.py: 648]
+05/26 05:48:26 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c44ac768e7304df58ebf13ba4c6eed11	[json_eval_task_sampler.py: 648]
+05/26 05:48:26 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_24	[json_eval_task_sampler.py: 648]
+05/26 05:48:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5361_ceiling.xml	[task_sampler.py: 797]
+05/26 05:48:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5361, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:48:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:48:30 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects	[json_eval_task_sampler.py: 686]
+05/26 05:48:30 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:48:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:48:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:48:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:48:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:48:30 INFO: [Worker 0] Sampled task 'Pick up the medium light brown rough potato and place it in or on the rough gray bowl'	[task_sampler.py: 1136]
+05/26 05:48:30 INFO: [Worker 0] Worker 0 house 5361 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 05:48:30 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:51:27 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]
+05/26 05:57:15 INFO: [Worker 0] Worker 0 house 5361 episode 0 object Irishpotato_e1aace659043c0d77e47a9e124a3b2b8_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 05:57:19 INFO: [Worker 0] Batching and saving trajectory data for house_5361: 1 episodes	[pipeline.py: 233]
+05/26 05:57:19 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:57:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:57:21 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5361	[save_utils.py: 703]
+05/26 05:57:21 INFO: [Worker 0] Successfully saved trajectory data for house_5361 in 2.27s (batch: 2.17s, save: 0.10s)	[pipeline.py: 280]
+05/26 05:57:21 WARNING: [Worker 0] No trajectory data to save for house_5361	[pipeline.py: 229]
+05/26 05:57:21 INFO: [Worker 0] Worker 0 completed house 5361: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 05:57:21 INFO: [Worker 0] Worker 0 starting house 5390 (index 31/36)	[pipeline.py: 473]
+05/26 05:57:21 INFO: [Worker 0] Loaded 2 episodes for house 5390 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_01	[json_eval_runner.py: 278]
+05/26 05:57:21 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 05:57:26 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b54b110dfccb4ea3a8f5a06cc65edc5a	[json_eval_task_sampler.py: 648]
+05/26 05:57:26 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/24ee73c87dcf4161a630bb65dee2a7a5	[json_eval_task_sampler.py: 648]
+05/26 05:57:26 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9ed70e7516894535a9e208904f8db364	[json_eval_task_sampler.py: 648]
+05/26 05:57:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5390_ceiling.xml	[task_sampler.py: 797]
+05/26 05:57:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5390, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:57:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:57:30 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects	[json_eval_task_sampler.py: 686]
+05/26 05:57:30 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:57:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:57:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:57:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:57:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:57:30 INFO: [Worker 0] Sampled task 'Pick up the electronic equipment and place it in or on the gray bowl'	[task_sampler.py: 1136]
+05/26 05:57:30 INFO: [Worker 0] Worker 0 house 5390 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 05:57:30 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:59:36 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]
+05/26 06:02:05 INFO: [Worker 0] Worker 0 house 5390 episode 0 object objavideocamera_3bd48bc193c54407a7ffdbea3c37a4d6_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 06:02:08 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]
+05/26 06:02:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b54b110dfccb4ea3a8f5a06cc65edc5a	[json_eval_task_sampler.py: 648]
+05/26 06:02:09 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/24ee73c87dcf4161a630bb65dee2a7a5	[json_eval_task_sampler.py: 648]
+05/26 06:02:09 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9ed70e7516894535a9e208904f8db364	[json_eval_task_sampler.py: 648]
+05/26 06:02:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5390_ceiling.xml	[task_sampler.py: 797]
+05/26 06:02:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5390, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:02:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:02:12 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects	[json_eval_task_sampler.py: 686]
+05/26 06:02:12 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:02:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:02:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:02:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:02:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:02:12 INFO: [Worker 0] Sampled task 'Pick up the rustic wooden mug and place it in or on the jade green patterned bowl'	[task_sampler.py: 1136]
+05/26 06:02:12 INFO: [Worker 0] Worker 0 house 5390 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 06:02:12 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:04:05 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]
+05/26 06:10:58 INFO: [Worker 0] Worker 0 house 5390 episode 1 object objamug_8529afb010814c188970381c3596afef_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 06:11:05 INFO: [Worker 0] Batching and saving trajectory data for house_5390: 2 episodes	[pipeline.py: 233]
+05/26 06:11:05 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:11:10 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:11:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:11:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:11:14 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5390	[save_utils.py: 703]
+05/26 06:11:14 INFO: [Worker 0] Successfully saved trajectory data for house_5390 in 8.89s (batch: 8.59s, save: 0.31s)	[pipeline.py: 280]
+05/26 06:11:15 WARNING: [Worker 0] No trajectory data to save for house_5390	[pipeline.py: 229]
+05/26 06:11:15 INFO: [Worker 0] Worker 0 completed house 5390: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 06:11:15 INFO: [Worker 0] Worker 0 starting house 5428 (index 32/36)	[pipeline.py: 473]
+05/26 06:11:15 INFO: [Worker 0] Loaded 1 episodes for house 5428 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_01	[json_eval_runner.py: 278]
+05/26 06:11:15 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 06:11:20 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_30	[json_eval_task_sampler.py: 648]
+05/26 06:11:20 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/12ca824c9c81470d994ceccb4b5a9061	[json_eval_task_sampler.py: 648]
+05/26 06:11:20 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/08dd440442874c8e8ae35494b4aff0a2	[json_eval_task_sampler.py: 648]
+05/26 06:11:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5428_ceiling.xml	[task_sampler.py: 797]
+05/26 06:11:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5428, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:11:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:11:26 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects	[json_eval_task_sampler.py: 686]
+05/26 06:11:26 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:11:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:11:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:11:26 INFO: [Worker 0] Sampled task 'Pick up the smooth polished cylindrical metal ring and place it in or on the pixelated bowl filled with ramen'	[task_sampler.py: 1136]
+05/26 06:11:26 INFO: [Worker 0] Worker 0 house 5428 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 06:11:26 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:11:26 WARNING: [Worker 0] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_5 in scene	[object_manager.py: 1238]
+05/26 06:11:26 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene	[object_manager.py: 1238]
+05/26 06:14:41 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]
+05/26 06:25:29 INFO: [Worker 0] Worker 0 house 5428 episode 0 object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/26 06:25:33 INFO: [Worker 0] Batching and saving trajectory data for house_5428: 1 episodes	[pipeline.py: 233]
+05/26 06:25:33 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:25:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:25:37 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5428	[save_utils.py: 703]
+05/26 06:25:37 INFO: [Worker 0] Successfully saved trajectory data for house_5428 in 3.70s (batch: 3.59s, save: 0.12s)	[pipeline.py: 280]
+05/26 06:25:37 WARNING: [Worker 0] No trajectory data to save for house_5428	[pipeline.py: 229]
+05/26 06:25:37 INFO: [Worker 0] Worker 0 completed house 5428: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 06:25:37 INFO: [Worker 0] Worker 0 starting house 5473 (index 33/36)	[pipeline.py: 473]
+05/26 06:25:37 INFO: [Worker 0] Loaded 1 episodes for house 5473 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_01	[json_eval_runner.py: 278]
+05/26 06:25:37 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]
+05/26 06:25:47 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0cb14e8a04de4c39ac8714a98fba9883	[json_eval_task_sampler.py: 648]
+05/26 06:25:47 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_22	[json_eval_task_sampler.py: 648]
+05/26 06:25:47 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/42f50ecee3da4df498c0e1b4319366a4	[json_eval_task_sampler.py: 648]
+05/26 06:25:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5473_ceiling.xml	[task_sampler.py: 797]
+05/26 06:25:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5473, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:25:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:25:50 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects	[json_eval_task_sampler.py: 686]
+05/26 06:25:50 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:25:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:25:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:25:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:25:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:25:50 INFO: [Worker 0] Sampled task 'Pick up the red kit kat chunky package and place it in or on the brown shallow rectangular basin with edges'	[task_sampler.py: 1136]
+05/26 06:25:50 INFO: [Worker 0] Worker 0 house 5473 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 06:25:50 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] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_1_0_4 in scene	[object_manager.py: 1238]
+05/26 06:25:51 WARNING: [Worker 0] Could not find object objaicecreamcone_b7b9fd6fcea7401f88142168ef6616b4_1_0_8 in scene	[object_manager.py: 1238]
+05/26 06:25:51 WARNING: [Worker 0] Could not find object tomato_b4fe73bc978b2372694676fd9d6ef462_1_0_8 in scene	[object_manager.py: 1238]
+05/26 06:27:34 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 06:32:54 INFO: [Worker 0] Worker 0 house 5473 episode 0 object objachocolatebarpackage_c4e4135658354eaa8b72810dbae0270a_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/26 06:32:58 INFO: [Worker 0] Batching and saving trajectory data for house_5473: 1 episodes	[pipeline.py: 233]
+05/26 06:32:58 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:33:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:33:02 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5473	[save_utils.py: 703]
+05/26 06:33:02 INFO: [Worker 0] Successfully saved trajectory data for house_5473 in 3.13s (batch: 3.03s, save: 0.10s)	[pipeline.py: 280]
+05/26 06:33:02 WARNING: [Worker 0] No trajectory data to save for house_5473	[pipeline.py: 229]
+05/26 06:33:02 INFO: [Worker 0] Worker 0 completed house 5473: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 06:33:02 INFO: [Worker 0] Worker 0 starting house 5495 (index 34/36)	[pipeline.py: 473]
+05/26 06:33:02 INFO: [Worker 0] Loaded 1 episodes for house 5495 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_01	[json_eval_runner.py: 278]
+05/26 06:33:02 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 06:33:06 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0aab5f2a6f744c13bffef0fccf53c0e0	[json_eval_task_sampler.py: 648]
+05/26 06:33:06 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c14e37cc7b7448bb9ed3bc33106a52b6	[json_eval_task_sampler.py: 648]
+05/26 06:33:06 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_23	[json_eval_task_sampler.py: 648]
+05/26 06:33:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5495_ceiling.xml	[task_sampler.py: 797]
+05/26 06:33:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5495, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:33:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:33:08 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects	[json_eval_task_sampler.py: 686]
+05/26 06:33:08 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:33:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:33:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:33:08 INFO: [Worker 0] Sampled task 'Pick up the blue soldering iron and place it in or on the red clay bowl with zigzag pattern'	[task_sampler.py: 1136]
+05/26 06:33:08 INFO: [Worker 0] Worker 0 house 5495 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 06:33:09 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:34:45 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 06:38:16 INFO: [Worker 0] Worker 0 house 5495 episode 0 object objasolderingiron_fb480380d29144e7a2a6437208d10d72_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 06:38:20 INFO: [Worker 0] Batching and saving trajectory data for house_5495: 1 episodes	[pipeline.py: 233]
+05/26 06:38:20 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:38:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:38:23 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5495	[save_utils.py: 703]
+05/26 06:38:23 INFO: [Worker 0] Successfully saved trajectory data for house_5495 in 3.10s (batch: 2.95s, save: 0.15s)	[pipeline.py: 280]
+05/26 06:38:24 WARNING: [Worker 0] No trajectory data to save for house_5495	[pipeline.py: 229]
+05/26 06:38:24 INFO: [Worker 0] Worker 0 completed house 5495: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 06:38:24 INFO: [Worker 0] Worker 0 starting house 5540 (index 35/36)	[pipeline.py: 473]
+05/26 06:38:24 INFO: [Worker 0] Loaded 1 episodes for house 5540 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_01	[json_eval_runner.py: 278]
+05/26 06:38:24 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 06:38:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7d2737e16fcf4d40bc549521ba6a2d02	[json_eval_task_sampler.py: 648]
+05/26 06:38:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/937044a40c3845bf88639056005b8a75	[json_eval_task_sampler.py: 648]
+05/26 06:38:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/76d1dd1d3f874897b4a630216570d49d	[json_eval_task_sampler.py: 648]
+05/26 06:38:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5540_ceiling.xml	[task_sampler.py: 797]
+05/26 06:38:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5540, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:38:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:38:35 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects	[json_eval_task_sampler.py: 686]
+05/26 06:38:35 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:38:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:38:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:38:35 INFO: [Worker 0] Sampled task 'Pick up the black digital music player and place it in or on the earthy toned handmade ceramic bowl'	[task_sampler.py: 1136]
+05/26 06:38:35 INFO: [Worker 0] Worker 0 house 5540 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 06:38:36 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:41:58 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]
+05/26 06:45:51 INFO: [Worker 0] Worker 0 house 5540 episode 0 object objadigitalmusicplayer_718d4a2a12e8402faa7af85890acb08c_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 06:45:54 INFO: [Worker 0] Batching and saving trajectory data for house_5540: 1 episodes	[pipeline.py: 233]
+05/26 06:45:55 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:45:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:45:57 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5540	[save_utils.py: 703]
+05/26 06:45:57 INFO: [Worker 0] Successfully saved trajectory data for house_5540 in 2.17s (batch: 2.08s, save: 0.09s)	[pipeline.py: 280]
+05/26 06:45:57 WARNING: [Worker 0] No trajectory data to save for house_5540	[pipeline.py: 229]
+05/26 06:45:57 INFO: [Worker 0] Worker 0 completed house 5540: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 06:45:57 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 526]
+05/26 06:45:58 INFO: Completed 36 houses, skipped 0 houses	[pipeline.py: 1496]
+05/26 06:45:58 INFO: Success count: 0, Total count: 41	[pipeline.py: 1499]
+05/26 06:45:58 INFO: Success rate: 0.00%	[pipeline.py: 1500]
diff --git a/pnp_v2/pnp_v2/shards/shard_01/eval/episode_results.jsonl b/pnp_v2/pnp_v2/shards/shard_01/eval/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5b34d8774213ae3c2af2793996eb98f6331a7e22
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_01/eval/episode_results.jsonl
@@ -0,0 +1,41 @@
+{"house_id": "house_3934", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the can opener and place it in or on the sleek metallic tray with edges", "object_name": "objacanopener_59a4d5ccb6cb449ab0b2c6ab2be80d2e_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3934/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3934", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green manual can opener with lever and place it in or on the simple matte gray bowl, tapered", "object_name": "objacanopener_8237129bfae244d7a62d706937f9f106_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3934/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3947", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the twisted rusty circular metal loop and place it in or on the blue and white ceramic bowl", "object_name": "objametalloop_25c41058e5f24271808b14c0ac40a02a_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3947/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3991", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue puzzle piece with rainbow clouds and place it in or on the round shallow dish with scrollwork", "object_name": "objapuzzlepiece_8882000196234ce7aefd64b149f3064e_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3991/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4021", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue curved brim visor and place it in or on the round black and gray ashtray with notches", "object_name": "objasportsvisor_2fe424987e594148959acafbebe79f41_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4021/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4079", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the butterfly knife with colorful gradient blade and place it in or on the square pink box with patterns", "object_name": "objabutterflyknife_be05554b77de495ea5e92d3bcb7730fa_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4079/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4144", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the realistic pink dentures and place it in or on the green rectangular box with snowflakes", "object_name": "objadentures_db38ff23dc534a8c8d27a1107904ef94_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4144/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4213", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ace card and place it in or on the rustic shallow clay bowl", "object_name": "objaplayingcard_c57676d9c0444741baf5a1154af6bc9b_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4213/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4289", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden top and place it in or on the light ashtray", "object_name": "objaspinningtop_c1badded9748431db08a9c969d3fea5e_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4289/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4303", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage beige computer keyboard with keys and place it in or on the crockery", "object_name": "objacomputerkeyboard_51f63167c849450a89b65fcd7d81e8f7_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4303/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4303", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metallic green pliers and place it in or on the rustic ceramic bowl", "object_name": "objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4303/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4347", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light gray plastic mounting bracket and place it in or on the translucent white smooth plastic bowl", "object_name": "objamountingbracket_89c52ab7b8f149369c832713bad2203c_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4347/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4382", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular rough gray stone block and place it in or on the oval pet bowl", "object_name": "objastoneblock_7a500b5f08d349f09cb3855ed029e6fa_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4382/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4423", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden mannequin hand peace and place it in or on the rustic brown bowl with texture", "object_name": "objamannequinhand_9507be033ab14d248bc3479e16927993_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4423/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4493", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red rectangular novelty license card and place it in or on the round ceramic bowl with floral patterns", "object_name": "objanoveltycard_8e6f2b6b96e24c6096116eb97376abff_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4493/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4545", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black and green ergonomic screwdriver and place it in or on the round gray handmade shallow bowl", "object_name": "objascrewdriver_240935915a744929914369cc12816ab2_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4545/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4600", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow kitchen knife with blue bolster and place it in or on the black bowl with grid", "object_name": "knife_2933d9425c8587a7d4ddaae661ac7598_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4600/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4644", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the creamy ice cream with sprinkles and place it in or on the decorative maroon floral box", "object_name": "objaicecreamcone_cc5e3d70ebba4215890504ea311252ba_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4644/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4702", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold foil chocolate bunny with ribbon and place it in or on the brown wooden leaf tray", "object_name": "objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4702/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4727", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the toy soldier with rifle and place it in or on the green bowl", "object_name": "objatoysoldier_966ecae1911843adbf05131eeb7c63cb_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4727/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4727", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue sponge and place it in or on the blue cooking pot with handles", "object_name": "objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4727/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4742", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the switch plate and place it in or on the rustic brown coconut bowl", "object_name": "objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4742/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4773", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the digital music player and place it in or on the rustic bowl", "object_name": "objadigitalmusicplayer_718d4a2a12e8402faa7af85890acb08c_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4773/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4807", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the slender wooden stick with markings and place it in or on the rectangular plastic tray with slot", "object_name": "objawoodenstick_1bd5fecf74bf4cdb987da156d2c0ac96_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4807/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4860", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy orange oval metal ring and place it in or on the frosted glass bowl", "object_name": "objametalring_43d9083d869849ed9a6f6c8cbdd7ad54_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4860/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4933", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metal lever on dark wooden base and place it in or on the blue decorative ceramic bottle", "object_name": "objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4933/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4983", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden gavel and place it in or on the decorative bowl", "object_name": "objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4983/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5023", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black rectangular network switch and place it in or on the round bowl", "object_name": "objanetworkswitch_94d0fae6892d48399d1a42a4313c0184_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5023/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5048", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the printedcircuitboard and place it in or on the smooth gray bowl", "object_name": "objaprintedcircuitboard_0c1eb50df8de4c2d9d4d694014204d86_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5048/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5048", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blocky pixelated green soldier and place it in or on the smooth gray bowl", "object_name": "objatoysoldier_8f055c6314cd4e6cb1f4236d145f5179_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5048/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5116", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cine-camera and place it in or on the round shallow small beige bowl", "object_name": "objamoviecamera_64bd72851ef349ef9cd24403df1789ad_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5116/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5165", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the kendama with purple ball and place it in or on the smooth gray medium bowl", "object_name": "objakendama_66f39ae4147c4fe2ae6d80baf2472e15_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5165/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5219", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray aerosol can with nozzle and place it in or on the round brown bowl", "object_name": "objaaerosolcan_d31366b00ec64a42a05c1eb8a49f346c_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5219/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5291", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small green baking packet and place it in or on the rustic stone bowl with bird spout", "object_name": "objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5291/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5361", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medium light brown rough potato and place it in or on the rough gray bowl", "object_name": "Irishpotato_e1aace659043c0d77e47a9e124a3b2b8_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5361/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5390", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the electronic equipment and place it in or on the gray bowl", "object_name": "objavideocamera_3bd48bc193c54407a7ffdbea3c37a4d6_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5390/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5390", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic wooden mug and place it in or on the jade green patterned bowl", "object_name": "objamug_8529afb010814c188970381c3596afef_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5390/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5428", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth polished cylindrical metal ring and place it in or on the pixelated bowl filled with ramen", "object_name": "objawasher_43e7ebcba34645448a997c3d03054d33_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5428/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5473", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red kit kat chunky package and place it in or on the brown shallow rectangular basin with edges", "object_name": "objachocolatebarpackage_c4e4135658354eaa8b72810dbae0270a_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5473/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5495", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue soldering iron and place it in or on the red clay bowl with zigzag pattern", "object_name": "objasolderingiron_fb480380d29144e7a2a6437208d10d72_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5495/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5540", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black digital music player and place it in or on the earthy toned handmade ceramic bowl", "object_name": "objadigitalmusicplayer_718d4a2a12e8402faa7af85890acb08c_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5540/trajectories_batch_1_of_1.h5", "metadata": {}}
diff --git a/pnp_v2/pnp_v2/shards/shard_01/eval/eval.log b/pnp_v2/pnp_v2/shards/shard_01/eval/eval.log
new file mode 100644
index 0000000000000000000000000000000000000000..79bc58c71668685780d6b171f1de7aafe00300e3
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_01/eval/eval.log
@@ -0,0 +1,1477 @@
+[2026-05-26 01:03:53,068] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath']
+[2026-05-26 01:03:53,136] INFO Selected MuJoCo backend: egl
+[2026-05-26 01:03:53,155] 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_01 (source=arg)
+[2026-05-26 01:03:56,002] 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 01:04:10,235] 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 01:04:38,695] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini']
+[2026-05-26 01:04:38,703] INFO Using save_video_sensors=['__none__']
+[2026-05-26 01:04:42,217] 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 01:04:42,379] INFO Using explicit task_horizon override: 450 steps
+[05/26 01:04:42 INFO pipeline.py:677] WandB logging disabled (environment variables not set)
+[2026-05-26 01:04:42,493] INFO JsonEvalRunner initialized: 36 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_01
+[05/26 01:04:42 INFO pipeline.py:1279] Starting house-by-house rollout of 36 houses with 2 episodes each (72 total episodes) using 1 worker processes
+[05/26 01:04:42 INFO pipeline.py:1286] Evaluation configuration:
+[05/26 01:04:42 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_01'),
+ '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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442'),
+ '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': [3934,
+                                        3947,
+                                        3991,
+                                        4021,
+                                        4079,
+                                        4144,
+                                        4213,
+                                        4289,
+                                        4303,
+                                        4347,
+                                        4382,
+                                        4423,
+                                        4493,
+                                        4545,
+                                        4600,
+                                        4644,
+                                        4702,
+                                        4727,
+                                        4742,
+                                        4773,
+                                        4807,
+                                        4860,
+                                        4933,
+                                        4983,
+                                        5023,
+                                        5048,
+                                        5116,
+                                        5165,
+                                        5219,
+                                        5291,
+                                        5361,
+                                        5390,
+                                        5428,
+                                        5473,
+                                        5495,
+                                        5540],
+                         '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 01:04:42,504] 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442
+[05/26 01:04:42 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler
+[05/26 01:04:42 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'}}
+[05/26 01:04:42 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler
+[05/26 01:04:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3934 (index 0/36)
+[05/26 01:04:42 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3934 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_01
+[05/26 01:04:42 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'}}
+Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes
+
Checking objects/objaverse:   0%|          | 0/55 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 55/55 [00:00<00:00, 74801.14it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/33 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 33/33 [00:00<00:00, 49896.19it/s]
+[05/26 01:04:56 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/10578ce7eca64714b260b142553f34f5
+[05/26 01:04:56 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/a37c32fbdbbb4ab19c8b1cccc557f52d
+[05/26 01:04:56 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_29
+[05/26 01:04:56 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+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.
+WARNING:2026-05-26 01:05:14,278: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 01:05:14,278] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu.
+[05/26 01:05:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3934_ceiling.xml
+[05/26 01:05:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3934, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:05:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:05:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 103 objects
+[05/26 01:05:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:05:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:05:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:05:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:05:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:05:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the can opener and place it in or on the sleek metallic tray with edges'
+[05/26 01:05:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 3934 episode 0/2 collected=0/2
+[05/26 01:05:18 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:05:19 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_1_0_5 in scene
+[05/26 01:05:19 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_2_0_5 in scene
+[05/26 01:05:19 Worker 0 WARNING object_manager.py:1238] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_8 in scene
+2026-05-26 01:06:22.046 | INFO     | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0
+[2026-05-26 01:06:56,854] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k)
+[2026-05-26 01:06:59,744] 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 01:09:03,079] INFO Number of parameters in DiT: 1.821428e+07
+[2026-05-26 01:09:06,702] 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 01:09:06,706] 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 01:09:09 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 01:14:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 3934 episode 0 object objacanopener_59a4d5ccb6cb449ab0b2c6ab2be80d2e_1_0_6 completed with success=False
+[05/26 01:14:52 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%|          | 0/55 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 55/55 [00:00<00:00, 67551.02it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/33 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 33/33 [00:00<00:00, 58500.44it/s]
+[05/26 01:16:13 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/10578ce7eca64714b260b142553f34f5
+[05/26 01:16:13 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/a37c32fbdbbb4ab19c8b1cccc557f52d
+[05/26 01:16:13 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_29
+[05/26 01:16:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3934_ceiling.xml
+[05/26 01:16:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3934, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:16:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:16:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 103 objects
+[05/26 01:16:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:16:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:16:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:16:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:16:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:16:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green manual can opener with lever and place it in or on the simple matte gray bowl, tapered'
+[05/26 01:16:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 3934 episode 1/2 collected=1/2
+[05/26 01:16:26 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:16:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_1_0_5 in scene
+[05/26 01:16:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_2_0_5 in scene
+[05/26 01:16:26 Worker 0 WARNING object_manager.py:1238] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_8 in scene
+[05/26 01:20:49 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 01:25:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 3934 episode 1 object objacanopener_8237129bfae244d7a62d706937f9f106_1_0_6 completed with success=False
+[05/26 01:25:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3934: 2 episodes
+[05/26 01:25:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:25:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:25:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:25:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:25:17 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3934
+[05/26 01:25:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3934 in 4.34s (batch: 4.14s, save: 0.20s)
+[05/26 01:25:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3934
+[05/26 01:25:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3934: 0/2 successful episodes
+[05/26 01:25:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3947 (index 1/36)
+[05/26 01:25:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3947 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_01
+[05/26 01:25:18 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%|          | 0/53 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 53/53 [00:00<00:00, 57028.76it/s]
+
Extracting:   0%|          | 0/5 [00:00<?, ?it/s]
Extracting:  20%|██        | 1/5 [00:34<02:17, 34.31s/it]
Extracting:  40%|████      | 2/5 [00:38<00:50, 16.68s/it]
Extracting:  60%|██████    | 3/5 [01:08<00:45, 22.52s/it]
Extracting:  80%|████████  | 4/5 [01:11<00:14, 14.90s/it]
Extracting: 100%|██████████| 5/5 [01:18<00:00, 12.14s/it]
Extracting: 100%|██████████| 5/5 [01:18<00:00, 15.72s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/18 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 18/18 [00:00<00:00, 38382.04it/s]
+[05/26 01:31:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/1ef337c5cfda4d368ceb154c0e9fae0e
+[05/26 01:31:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/bf83213efac34b3cb2ad6ac5ddaf05d9
+[05/26 01:31:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/8c419f6d0cbc4580a2e2b9d273969b97
+[05/26 01:31:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3947_ceiling.xml
+[05/26 01:31:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3947, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:31:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:31:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 81 objects
+[05/26 01:31:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:31:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:31:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:31:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:31:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:31:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the twisted rusty circular metal loop and place it in or on the blue and white ceramic bowl'
+[05/26 01:31:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 3947 episode 0/1 collected=0/2
+[05/26 01:31:44 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 01:32:45,616] 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 01:37:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 3947 episode 0 object objametalloop_25c41058e5f24271808b14c0ac40a02a_1_0_8 completed with success=False
+[05/26 01:37:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3947: 1 episodes
+[05/26 01:37:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:37:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:37:30 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3947
+[05/26 01:37:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3947 in 2.67s (batch: 2.54s, save: 0.13s)
+[05/26 01:37:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3947
+[05/26 01:37:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3947: 0/1 successful episodes
+[05/26 01:37:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3991 (index 2/36)
+[05/26 01:37:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3991 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_01
+[05/26 01:37:31 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, 27685.17it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/11 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 11/11 [00:00<00:00, 22561.05it/s]
+[05/26 01:38:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/f8b3d867de194e6cb587c89d54ed8f0e
+[05/26 01:38:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/659e6917a5b145fc88b46882fde3764d
+[05/26 01:38:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/0aab5f2a6f744c13bffef0fccf53c0e0
+[05/26 01:38:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3991_ceiling.xml
+[05/26 01:38:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3991, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:38:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:38:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects
+[05/26 01:38:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:38:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:38:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:38:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:38:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:38:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue puzzle piece with rainbow clouds and place it in or on the round shallow dish with scrollwork'
+[05/26 01:38:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 3991 episode 0/1 collected=0/2
+[05/26 01:38:07 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 01:40:06,633] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 01:41:05 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 01:44:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 3991 episode 0 object objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_6 completed with success=False
+[05/26 01:44:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3991: 1 episodes
+[05/26 01:44:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:44:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:44:38 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3991
+[05/26 01:44:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3991 in 2.12s (batch: 2.03s, save: 0.09s)
+[05/26 01:44:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3991
+[05/26 01:44:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3991: 0/1 successful episodes
+[05/26 01:44:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4021 (index 3/36)
+[05/26 01:44:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4021 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_01
+[05/26 01:44:39 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, 85396.95it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/7 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 7/7 [00:00<00:00, 48529.14it/s]
+[05/26 01:55:31 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/39afab89520c460598805c0a6bad291c
+[05/26 01:55:31 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/589cc33e26134e808392ac3e956ba868
+[05/26 01:55:31 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/1e23d9b649a643528ce00de750e858de
+[05/26 01:55:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4021_ceiling.xml
+[05/26 01:55:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4021, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:55:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:55:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects
+[05/26 01:55:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:55:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:55:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:55:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:55:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:55:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue curved brim visor and place it in or on the round black and gray ashtray with notches'
+[05/26 01:55:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 4021 episode 0/1 collected=0/2
+[05/26 01:55:33 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 01:56:35,953] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 01:57:39 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 02:00:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4021 episode 0 object objasportsvisor_2fe424987e594148959acafbebe79f41_1_0_7 completed with success=False
+[05/26 02:00:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4021: 1 episodes
+[05/26 02:00:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:00:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:00:44 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4021
+[05/26 02:00:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4021 in 3.42s (batch: 3.27s, save: 0.15s)
+[05/26 02:00:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4021
+[05/26 02:00:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4021: 0/1 successful episodes
+[05/26 02:00:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4079 (index 4/36)
+[05/26 02:00:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4079 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_01
+[05/26 02:00:45 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'}}
+
Checking objects/objaverse:   0%|          | 0/57 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 57/57 [00:00<00:00, 39706.91it/s]
+
Extracting:   0%|          | 0/7 [00:00<?, ?it/s]
Extracting:  14%|█▍        | 1/7 [00:04<00:26,  4.44s/it]
Extracting:  29%|██▊       | 2/7 [00:07<00:17,  3.59s/it]
Extracting:  43%|████▎     | 3/7 [00:09<00:12,  3.06s/it]
Extracting:  57%|█████▋    | 4/7 [00:12<00:08,  2.97s/it]
Extracting:  71%|███████▏  | 5/7 [00:14<00:05,  2.51s/it]
Extracting:  86%|████████▌ | 6/7 [00:22<00:04,  4.25s/it]
Extracting: 100%|██████████| 7/7 [00:23<00:00,  3.49s/it]
Extracting: 100%|██████████| 7/7 [00:23<00:00,  3.42s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/26 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 26/26 [00:00<00:00, 34357.88it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:01<00:03,  1.84s/it]
Extracting:  67%|██████▋   | 2/3 [00:04<00:02,  2.18s/it]
Extracting: 100%|██████████| 3/3 [00:06<00:00,  2.43s/it]
Extracting: 100%|██████████| 3/3 [00:06<00:00,  2.33s/it]
+[05/26 02:01:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/934bd78c490140198db542aee7f765fa
+[05/26 02:01:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/b63ca5b519ba4920a6288da00d9224bd
+[05/26 02:01:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/d318587cfc624b18b52a3a7fb7124373
+[05/26 02:01:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4079_ceiling.xml
+[05/26 02:01:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4079, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:01:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:01:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 94 objects
+[05/26 02:01:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:01:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:01:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:01:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:01:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:01:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butterfly knife with colorful gradient blade and place it in or on the square pink box with patterns'
+[05/26 02:01:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 4079 episode 0/1 collected=0/2
+[05/26 02:01:32 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:03:54,646] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:09:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 4079 episode 0 object objabutterflyknife_be05554b77de495ea5e92d3bcb7730fa_1_0_8 completed with success=False
+[05/26 02:09:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4079: 1 episodes
+[05/26 02:09:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:09:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:09:28 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4079
+[05/26 02:09:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4079 in 3.59s (batch: 3.39s, save: 0.20s)
+[05/26 02:09:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4079
+[05/26 02:09:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4079: 0/1 successful episodes
+[05/26 02:09:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4144 (index 5/36)
+[05/26 02:09:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4144 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_01
+[05/26 02:09:29 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%|          | 0/62 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 62/62 [00:00<00:00, 64288.47it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/29 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 29/29 [00:00<00:00, 50117.35it/s]
+[05/26 02:09:34 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/372c4540cbe148b9bddcbbf1761b5e81
+[05/26 02:09:34 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/39afab89520c460598805c0a6bad291c
+[05/26 02:09:34 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/bf83213efac34b3cb2ad6ac5ddaf05d9
+[05/26 02:09:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4144_ceiling.xml
+[05/26 02:09:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4144, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:09:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:09:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 90 objects
+[05/26 02:09:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:09:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:09:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:09:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:09:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:09:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the realistic pink dentures and place it in or on the green rectangular box with snowflakes'
+[05/26 02:09:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 4144 episode 0/1 collected=0/2
+[05/26 02:09:43 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:09:44 Worker 0 WARNING object_manager.py:1238] Could not find object objashoe_ca4b35d9115e458f8f4c22dfb3d73f7b_1_0_9 in scene
+[05/26 02:09:44 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_9 in scene
+[2026-05-26 02:11:46,895] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:16:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4144 episode 0 object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_9 completed with success=False
+[05/26 02:16:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4144: 1 episodes
+[05/26 02:16:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:16:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:16:50 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4144
+[05/26 02:16:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4144 in 3.34s (batch: 3.22s, save: 0.12s)
+[05/26 02:16:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4144
+[05/26 02:16:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4144: 0/1 successful episodes
+[05/26 02:16:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4213 (index 6/36)
+[05/26 02:16:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4213 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_01
+[05/26 02:16:51 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%|          | 0/44 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 44/44 [00:00<00:00, 43454.06it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/23 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 23/23 [00:00<00:00, 61172.47it/s]
+[05/26 02:16:55 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/496bd9f05a714e608a41a24b169937f6
+[05/26 02:16:55 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Pot_12
+[05/26 02:16:55 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/9ed70e7516894535a9e208904f8db364
+[05/26 02:17:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4213_ceiling.xml
+[05/26 02:17:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4213, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:17:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:17:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 88 objects
+[05/26 02:17:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:17:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:17:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:17:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:17:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:17:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ace card and place it in or on the rustic shallow clay bowl'
+[05/26 02:17:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 4213 episode 0/1 collected=0/2
+[05/26 02:17:02 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:18:43,955] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:24:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 4213 episode 0 object objaplayingcard_c57676d9c0444741baf5a1154af6bc9b_1_0_6 completed with success=False
+[05/26 02:24:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4213: 1 episodes
+[05/26 02:24:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:24:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:24:31 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4213
+[05/26 02:24:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4213 in 4.29s (batch: 4.17s, save: 0.12s)
+[05/26 02:24:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4213
+[05/26 02:24:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4213: 0/1 successful episodes
+[05/26 02:24:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4289 (index 7/36)
+[05/26 02:24:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4289 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_01
+[05/26 02:24:32 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'}}
+
Checking objects/objaverse:   0%|          | 0/25 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 25/25 [00:00<00:00, 22140.54it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:01<00:02,  1.40s/it]
Extracting:  67%|██████▋   | 2/3 [00:02<00:01,  1.25s/it]
Extracting: 100%|██████████| 3/3 [00:03<00:00,  1.26s/it]
Extracting: 100%|██████████| 3/3 [00:03<00:00,  1.27s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/11 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 11/11 [00:00<00:00, 8654.54it/s]
+[05/26 02:24:37 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/1e23d9b649a643528ce00de750e858de
+[05/26 02:24:37 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/c7df0f7671d34fb9817d37067072f9ab
+[05/26 02:24:37 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/576495fa2f9749adaca89aa604aa68b0
+[05/26 02:24:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4289_ceiling.xml
+[05/26 02:24:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4289, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:24:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:24:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects
+[05/26 02:24:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:24:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:24:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:24:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:24:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:24:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the wooden top and place it in or on the light ashtray'
+[05/26 02:24:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 4289 episode 0/1 collected=0/2
+[05/26 02:24:43 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:27:11,648] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:32:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 4289 episode 0 object objaspinningtop_c1badded9748431db08a9c969d3fea5e_1_0_7 completed with success=False
+[05/26 02:32:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4289: 1 episodes
+[05/26 02:32:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:32:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:32:36 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4289
+[05/26 02:32:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4289 in 2.89s (batch: 2.76s, save: 0.13s)
+[05/26 02:32:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4289
+[05/26 02:32:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4289: 0/1 successful episodes
+[05/26 02:32:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4303 (index 8/36)
+[05/26 02:32:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4303 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_01
+[05/26 02:32:37 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%|          | 0/41 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 41/41 [00:00<00:00, 49773.22it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/18 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 18/18 [00:00<00:00, 52356.08it/s]
+[05/26 02:32:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/1e23d9b649a643528ce00de750e858de
+[05/26 02:32:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/63211cbfb48044bcbdbbd30a3aa3bb75
+[05/26 02:32:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/2911e8c87d49402c9e3c18277c8b2b2a
+[05/26 02:32:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4303_ceiling.xml
+[05/26 02:32:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4303, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:32:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:32:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects
+[05/26 02:32:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:32:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:32:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:32:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:32:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:32:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the vintage beige computer keyboard with keys and place it in or on the crockery'
+[05/26 02:32:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 4303 episode 0/2 collected=0/2
+[05/26 02:32:47 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:32:47 Worker 0 WARNING object_manager.py:1238] Could not find object egg_aeca24b46189bee76c22ec0349729d60_1_0_8 in scene
+[2026-05-26 02:34:59,042] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:35:56 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 02:45:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4303 episode 0 object objacomputerkeyboard_51f63167c849450a89b65fcd7d81e8f7_1_0_6 completed with success=False
+[05/26 02:45:29 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, 60170.21it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/18 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 18/18 [00:00<00:00, 48676.64it/s]
+[05/26 02:45:32 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/1e23d9b649a643528ce00de750e858de
+[05/26 02:45:32 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/63211cbfb48044bcbdbbd30a3aa3bb75
+[05/26 02:45:32 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/2911e8c87d49402c9e3c18277c8b2b2a
+[05/26 02:45:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4303_ceiling.xml
+[05/26 02:45:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4303, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:45:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:45:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects
+[05/26 02:45:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:45:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:45:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:45:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:45:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:45:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metallic green pliers and place it in or on the rustic ceramic bowl'
+[05/26 02:45:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 4303 episode 1/2 collected=1/2
+[05/26 02:45:38 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:45:38 Worker 0 WARNING object_manager.py:1238] Could not find object egg_aeca24b46189bee76c22ec0349729d60_1_0_8 in scene
+[2026-05-26 02:47:55,367] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:49:07 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 02:53:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 4303 episode 1 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_8 completed with success=False
+[05/26 02:53:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4303: 2 episodes
+[05/26 02:53:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:53:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:53:47 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4303
+[05/26 02:53:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4303 in 6.55s (batch: 6.21s, save: 0.35s)
+[05/26 02:53:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4303
+[05/26 02:53:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4303: 0/2 successful episodes
+[05/26 02:53:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4347 (index 9/36)
+[05/26 02:53:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4347 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_01
+[05/26 02:53:48 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%|          | 0/18 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 18/18 [00:00<00:00, 30802.72it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/6 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 6/6 [00:00<00:00, 11721.39it/s]
+[05/26 02:53:51 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/5f6ab8152ec9440e9b922def5ae8b8b2
+[05/26 02:53:51 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_2
+[05/26 02:53:51 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_29
+[05/26 02:53:51 Worker 0 INFO scene_maps.py:66] Deleted 1 blacklisted bodies from scene
+[05/26 02:53:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4347_ceiling.xml
+[05/26 02:53:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4347, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:53:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:53:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects
+[05/26 02:53:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:53:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:53:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:53:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:53:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:53:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light gray plastic mounting bracket and place it in or on the translucent white smooth plastic bowl'
+[05/26 02:53:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 4347 episode 0/1 collected=0/2
+[05/26 02:53:53 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:53:54 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene
+[2026-05-26 02:56:16,490] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:57:48 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 03:01:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4347 episode 0 object objamountingbracket_89c52ab7b8f149369c832713bad2203c_1_0_2 completed with success=False
+[05/26 03:01:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4347: 1 episodes
+[05/26 03:01:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:01:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:01:42 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4347
+[05/26 03:01:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4347 in 3.76s (batch: 3.54s, save: 0.22s)
+[05/26 03:01:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4347
+[05/26 03:01:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4347: 0/1 successful episodes
+[05/26 03:01:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4382 (index 10/36)
+[05/26 03:01:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4382 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_01
+[05/26 03:01:43 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%|          | 0/55 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 55/55 [00:00<00:00, 75808.98it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/20 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 20/20 [00:00<00:00, 3848.34it/s]
+[05/26 03:01:49 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/3339ce474c3d4fb3a35952f476ca1e4a
+[05/26 03:01:49 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/0b0079b036c845139d5823255a34da7a
+[05/26 03:01:49 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Pot_28
+[05/26 03:01:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4382_ceiling.xml
+[05/26 03:01:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4382, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:01:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:01:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 82 objects
+[05/26 03:01:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:01:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:01:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:01:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:01:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:01:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular rough gray stone block and place it in or on the oval pet bowl'
+[05/26 03:01:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 4382 episode 0/1 collected=0/2
+[05/26 03:01:58 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:04:16,696] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:05:48 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 03:13:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 4382 episode 0 object objastoneblock_7a500b5f08d349f09cb3855ed029e6fa_1_0_5 completed with success=False
+[05/26 03:13:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4382: 1 episodes
+[05/26 03:13:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:13:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:13:12 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4382
+[05/26 03:13:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4382 in 3.59s (batch: 3.36s, save: 0.23s)
+[05/26 03:13:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4382
+[05/26 03:13:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4382: 0/1 successful episodes
+[05/26 03:13:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4423 (index 11/36)
+[05/26 03:13:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4423 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_01
+[05/26 03:13:13 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%|          | 0/31 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 31/31 [00:00<00:00, 64019.41it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/16 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 16/16 [00:00<00:00, 52551.97it/s]
+[05/26 03:13:14 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/576495fa2f9749adaca89aa604aa68b0
+[05/26 03:13:14 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_14
+[05/26 03:13:14 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/21480103f9f44a52a5ee8bc37fb70bab
+[05/26 03:13:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4423_ceiling.xml
+[05/26 03:13:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4423, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:13:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:13:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects
+[05/26 03:13:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:13:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:13:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:13:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:13:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:13:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the wooden mannequin hand peace and place it in or on the rustic brown bowl with texture'
+[05/26 03:13:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 4423 episode 0/1 collected=0/2
+[05/26 03:13:18 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:15:23,869] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:15:51 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 03:20:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4423 episode 0 object objamannequinhand_9507be033ab14d248bc3479e16927993_1_0_4 completed with success=False
+[05/26 03:20:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4423: 1 episodes
+[05/26 03:20:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:20:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:20:15 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4423
+[05/26 03:20:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4423 in 2.88s (batch: 2.73s, save: 0.15s)
+[05/26 03:20:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4423
+[05/26 03:20:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4423: 0/1 successful episodes
+[05/26 03:20:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4493 (index 12/36)
+[05/26 03:20:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4493 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_01
+[05/26 03:20:15 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%|          | 0/45 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 45/45 [00:00<00:00, 51653.99it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:00<00:02,  1.02it/s]
Extracting:  50%|█████     | 2/4 [00:02<00:02,  1.16s/it]
Extracting:  75%|███████▌  | 3/4 [00:03<00:01,  1.03s/it]
Extracting: 100%|██████████| 4/4 [00:04<00:00,  1.11s/it]
Extracting: 100%|██████████| 4/4 [00:04<00:00,  1.09s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/22 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 22/22 [00:00<00:00, 5692.45it/s]
+[05/26 03:20:23 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/d50f554707f24584b988e2feea162cc5
+[05/26 03:20:23 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/b63ca5b519ba4920a6288da00d9224bd
+[05/26 03:20:23 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/408b385373564c16acda3224de7d2ec6
+[05/26 03:20:23 Worker 0 INFO scene_maps.py:66] Deleted 1 blacklisted bodies from scene
+[05/26 03:20:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4493_ceiling.xml
+[05/26 03:20:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4493, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:20:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:20:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects
+[05/26 03:20:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:20:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:20:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:20:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:20:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:20:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red rectangular novelty license card and place it in or on the round ceramic bowl with floral patterns'
+[05/26 03:20:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 4493 episode 0/1 collected=0/2
+[05/26 03:20:29 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:20:29 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_7 in scene
+[05/26 03:20:29 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_db38ff23dc534a8c8d27a1107904ef94_2_0_7 in scene
+[05/26 03:20:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene
+[2026-05-26 03:22:20,448] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:25:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4493 episode 0 object objanoveltycard_8e6f2b6b96e24c6096116eb97376abff_1_0_4 completed with success=False
+[05/26 03:25:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4493: 1 episodes
+[05/26 03:25:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:25:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:25:35 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4493
+[05/26 03:25:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4493 in 2.55s (batch: 2.39s, save: 0.16s)
+[05/26 03:25:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4493
+[05/26 03:25:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4493: 0/1 successful episodes
+[05/26 03:25:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4545 (index 13/36)
+[05/26 03:25:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4545 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_01
+[05/26 03:25:36 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%|          | 0/35 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 35/35 [00:00<00:00, 56527.01it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/14 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 14/14 [00:00<00:00, 45519.58it/s]
+[05/26 03:25:38 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/1e23d9b649a643528ce00de750e858de
+[05/26 03:25:38 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/b4f97bfa98234ac58b2991d6ac0a18a9
+[05/26 03:25:38 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/03f1185ff6d4428fa81f6fc9db589338
+[05/26 03:25:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4545_ceiling.xml
+[05/26 03:25:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4545, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:25:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:25:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects
+[05/26 03:25:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:25:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:25:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:25:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:25:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:25:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black and green ergonomic screwdriver and place it in or on the round gray handmade shallow bowl'
+[05/26 03:25:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 4545 episode 0/1 collected=0/2
+[05/26 03:25:42 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene
+[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_dbb40c6f9226401f88230d46a12fa50f_1_0_5 in scene
+[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objalogo_de1cf01f0b664aa5bc031db15d7686d2_1_0_6 in scene
+[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3c4427455eeccda33c6e6db585f41627_1_0_6 in scene
+[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturemodel_5ab1392182d345b49b3391f7776339e9_1_0_6 in scene
+[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objapastry_76c0179636324a60bcf8cda8496a1fc7_1_0_6 in scene
+[2026-05-26 03:27:48,843] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:37:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4545 episode 0 object objascrewdriver_240935915a744929914369cc12816ab2_1_0_7 completed with success=False
+[05/26 03:37:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4545: 1 episodes
+[05/26 03:37:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:37:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:37:48 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4545
+[05/26 03:37:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4545 in 3.18s (batch: 3.06s, save: 0.13s)
+[05/26 03:37:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4545
+[05/26 03:37:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4545: 0/1 successful episodes
+[05/26 03:37:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4600 (index 14/36)
+[05/26 03:37:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4600 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_01
+[05/26 03:37:49 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%|          | 0/55 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 55/55 [00:00<00:00, 36686.82it/s]
+
Extracting:   0%|          | 0/8 [00:00<?, ?it/s]
Extracting:  12%|█▎        | 1/8 [00:01<00:08,  1.17s/it]
Extracting:  25%|██▌       | 2/8 [00:02<00:06,  1.06s/it]
Extracting:  38%|███▊      | 3/8 [00:03<00:05,  1.18s/it]
Extracting:  50%|█████     | 4/8 [00:04<00:05,  1.28s/it]
Extracting:  62%|██████▎   | 5/8 [00:05<00:03,  1.08s/it]
Extracting:  75%|███████▌  | 6/8 [00:06<00:02,  1.03s/it]
Extracting:  88%|████████▊ | 7/8 [00:07<00:01,  1.15s/it]
Extracting: 100%|██████████| 8/8 [00:08<00:00,  1.02s/it]
Extracting: 100%|██████████| 8/8 [00:08<00:00,  1.09s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/23 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 23/23 [00:00<00:00, 3718.21it/s]
+
Extracting:   0%|          | 0/5 [00:00<?, ?it/s]
Extracting:  20%|██        | 1/5 [00:00<00:02,  1.65it/s]
Extracting:  40%|████      | 2/5 [00:01<00:01,  1.70it/s]
Extracting:  60%|██████    | 3/5 [00:01<00:01,  1.76it/s]
Extracting:  80%|████████  | 4/5 [00:02<00:00,  1.75it/s]
Extracting: 100%|██████████| 5/5 [00:02<00:00,  1.72it/s]
Extracting: 100%|██████████| 5/5 [00:02<00:00,  1.72it/s]
+[05/26 03:38:04 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/54c702aeeb634157ab6bfd6c2f7a78c2
+[05/26 03:38:04 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/836b48b21dcb4842a208c66f106abf18
+[05/26 03:38:04 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_9
+[05/26 03:38:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4600_ceiling.xml
+[05/26 03:38:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4600, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:38:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:38:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 100 objects
+[05/26 03:38:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:38:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:38:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:38:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:38:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:38:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow kitchen knife with blue bolster and place it in or on the black bowl with grid'
+[05/26 03:38:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 4600 episode 0/1 collected=0/2
+[05/26 03:38:12 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objakitchenutensil_c039015dad6245cabd9044c67ada4252_1_0_2 in scene
+[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene
+[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene
+[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objanecklace_6c0291d03378411d96d26cc95e398a73_1_0_9 in scene
+[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_dc620e458adb44cdb9a0878e5a7e1630_1_0_9 in scene
+[2026-05-26 03:40:23,531] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:46:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4600 episode 0 object knife_2933d9425c8587a7d4ddaae661ac7598_1_0_2 completed with success=False
+[05/26 03:46:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4600: 1 episodes
+[05/26 03:46:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:46:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:46:22 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4600
+[05/26 03:46:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4600 in 2.86s (batch: 2.77s, save: 0.09s)
+[05/26 03:46:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4600
+[05/26 03:46:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4600: 0/1 successful episodes
+[05/26 03:46:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4644 (index 15/36)
+[05/26 03:46:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4644 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_01
+[05/26 03:46:23 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%|          | 0/6 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 6/6 [00:00<00:00, 18262.57it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/5 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 5/5 [00:00<00:00, 4061.10it/s]
+[05/26 03:46:29 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/934bd78c490140198db542aee7f765fa
+[05/26 03:46:29 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/b8cba8b5a69543ce9875c40028261490
+[05/26 03:46:29 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/cfe3c9eed1554f59ad7756e27d97c667
+[05/26 03:46:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4644_ceiling.xml
+[05/26 03:46:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4644, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:46:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:46:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects
+[05/26 03:46:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:46:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:46:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:46:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:46:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:46:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the creamy ice cream with sprinkles and place it in or on the decorative maroon floral box'
+[05/26 03:46:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 4644 episode 0/1 collected=0/2
+[05/26 03:46:31 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:48:10,561] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:49:20 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 03:53:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4644 episode 0 object objaicecreamcone_cc5e3d70ebba4215890504ea311252ba_1_0_2 completed with success=False
+[05/26 03:53:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4644: 1 episodes
+[05/26 03:53:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:53:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:53:34 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4644
+[05/26 03:53:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4644 in 4.43s (batch: 4.27s, save: 0.16s)
+[05/26 03:53:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4644
+[05/26 03:53:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4644: 0/1 successful episodes
+[05/26 03:53:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4702 (index 16/36)
+[05/26 03:53:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4702 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_01
+[05/26 03:53:35 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'}}
+
Checking objects/objaverse:   0%|          | 0/33 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 33/33 [00:00<00:00, 36616.94it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:01<00:03,  1.18s/it]
Extracting:  50%|█████     | 2/4 [00:02<00:02,  1.22s/it]
Extracting:  75%|███████▌  | 3/4 [00:03<00:01,  1.23s/it]
Extracting: 100%|██████████| 4/4 [00:04<00:00,  1.26s/it]
Extracting: 100%|██████████| 4/4 [00:04<00:00,  1.24s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/11 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 11/11 [00:00<00:00, 6471.78it/s]
+[05/26 03:53:42 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/63211cbfb48044bcbdbbd30a3aa3bb75
+[05/26 03:53:42 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/50be4f8b8f744730878916aa38b0f08f
+[05/26 03:53:42 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/576495fa2f9749adaca89aa604aa68b0
+[05/26 03:53:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4702_ceiling.xml
+[05/26 03:53:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4702, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:53:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:53:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects
+[05/26 03:53:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:53:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:53:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:53:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:53:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:53:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gold foil chocolate bunny with ribbon and place it in or on the brown wooden leaf tray'
+[05/26 03:53:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 4702 episode 0/1 collected=0/2
+[05/26 03:53:46 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:55:36,104] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:56:39 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 03:59:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4702 episode 0 object objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_1_0_6 completed with success=False
+[05/26 03:59:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4702: 1 episodes
+[05/26 03:59:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:59:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:59:53 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4702
+[05/26 03:59:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4702 in 3.35s (batch: 3.23s, save: 0.13s)
+[05/26 03:59:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4702
+[05/26 03:59:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4702: 0/1 successful episodes
+[05/26 03:59:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4727 (index 17/36)
+[05/26 03:59:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4727 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_01
+[05/26 03:59:53 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'}}
+
Checking objects/objaverse:   0%|          | 0/60 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 60/60 [00:00<00:00, 43426.79it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:01<00:03,  1.32s/it]
Extracting:  50%|█████     | 2/4 [00:02<00:02,  1.31s/it]
Extracting:  75%|███████▌  | 3/4 [00:03<00:01,  1.18s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.37s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.33s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/29 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 29/29 [00:00<00:00, 8378.21it/s]
+[05/26 04:00:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/fdfd829fe39049a69f6df2289b29dc7f
+[05/26 04:00:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/ede795f1c6f74a99b6952183f340fcb8
+[05/26 04:00:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Pot_28
+[05/26 04:00:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4727_ceiling.xml
+[05/26 04:00:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4727, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:00:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:00:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects
+[05/26 04:00:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:00:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:00:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:00:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:00:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:00:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the toy soldier with rifle and place it in or on the green bowl'
+[05/26 04:00:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 4727 episode 0/2 collected=0/2
+[05/26 04:00:11 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_4 in scene
+[05/26 04:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyrocket_f2c0811c3fc24bcb99a7c96acaf5a793_1_0_4 in scene
+[05/26 04:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_4 in scene
+[05/26 04:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_1dbb7462a3e04e918023f6fec7743ee2_1_0_5 in scene
+[2026-05-26 04:02:11,803] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:03:40 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 04:07:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4727 episode 0 object objatoysoldier_966ecae1911843adbf05131eeb7c63cb_1_0_8 completed with success=False
+[05/26 04:07:21 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%|          | 0/60 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 60/60 [00:00<00:00, 93103.31it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/29 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 29/29 [00:00<00:00, 88013.62it/s]
+[05/26 04:07:23 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/fdfd829fe39049a69f6df2289b29dc7f
+[05/26 04:07:23 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/ede795f1c6f74a99b6952183f340fcb8
+[05/26 04:07:23 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Pot_28
+[05/26 04:07:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4727_ceiling.xml
+[05/26 04:07:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4727, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:07:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:07:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects
+[05/26 04:07:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:07:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:07:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:07:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:07:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:07:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue sponge and place it in or on the blue cooking pot with handles'
+[05/26 04:07:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 4727 episode 1/2 collected=1/2
+[05/26 04:07:28 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_4 in scene
+[05/26 04:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyrocket_f2c0811c3fc24bcb99a7c96acaf5a793_1_0_4 in scene
+[05/26 04:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_4 in scene
+[05/26 04:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_1dbb7462a3e04e918023f6fec7743ee2_1_0_5 in scene
+[2026-05-26 04:09:07,177] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:10:26 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 04:16:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4727 episode 1 object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_9 completed with success=False
+[05/26 04:16:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4727: 2 episodes
+[05/26 04:16:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:16:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:16:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:16:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:16:30 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4727
+[05/26 04:16:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4727 in 7.69s (batch: 7.33s, save: 0.36s)
+[05/26 04:16:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4727
+[05/26 04:16:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4727: 0/2 successful episodes
+[05/26 04:16:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4742 (index 18/36)
+[05/26 04:16:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4742 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_01
+[05/26 04:16:31 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, 18436.50it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/4 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 4/4 [00:00<00:00, 17102.16it/s]
+[05/26 04:16:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/4c75946736424e5397f4eadd336e0bf1
+[05/26 04:16:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/372c4540cbe148b9bddcbbf1761b5e81
+[05/26 04:16:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/b4058303001a4878bbe5c3f248dedd78
+[05/26 04:16:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4742_ceiling.xml
+[05/26 04:16:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4742, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:16:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:16:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 9 objects
+[05/26 04:16:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:16:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:16:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:16:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:16:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:16:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the switch plate and place it in or on the rustic brown coconut bowl'
+[05/26 04:16:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 4742 episode 0/1 collected=0/2
+[05/26 04:16:36 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:16:36 Worker 0 WARNING object_manager.py:1238] Could not find object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_2_0_2 in scene
+[05/26 04:16:36 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_2 in scene
+[2026-05-26 04:18:48,300] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:22:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 4742 episode 0 object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_1_0_2 completed with success=False
+[05/26 04:22:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4742: 1 episodes
+[05/26 04:22:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:22:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:22:54 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4742
+[05/26 04:22:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4742 in 2.73s (batch: 2.60s, save: 0.13s)
+[05/26 04:22:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4742
+[05/26 04:22:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4742: 0/1 successful episodes
+[05/26 04:22:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4773 (index 19/36)
+[05/26 04:22:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4773 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_01
+[05/26 04:22:55 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%|          | 0/22 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 22/22 [00:00<00:00, 38738.32it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/9 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 9/9 [00:00<00:00, 4544.21it/s]
+[05/26 04:22:59 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/836b48b21dcb4842a208c66f106abf18
+[05/26 04:22:59 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/7d2737e16fcf4d40bc549521ba6a2d02
+[05/26 04:22:59 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/bfae6fa9a7f64b9eb16f57c05553c612
+[05/26 04:23:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4773_ceiling.xml
+[05/26 04:23:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4773, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:23:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:23:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects
+[05/26 04:23:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:23:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:23:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:23:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:23:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:23:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the digital music player and place it in or on the rustic bowl'
+[05/26 04:23:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 4773 episode 0/1 collected=0/2
+[05/26 04:23:02 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:24:39,896] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:25:14 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 04:30:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4773 episode 0 object objadigitalmusicplayer_718d4a2a12e8402faa7af85890acb08c_1_0_6 completed with success=False
+[05/26 04:30:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4773: 1 episodes
+[05/26 04:30:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:30:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:30:16 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4773
+[05/26 04:30:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4773 in 3.76s (batch: 3.63s, save: 0.14s)
+[05/26 04:30:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4773
+[05/26 04:30:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4773: 0/1 successful episodes
+[05/26 04:30:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4807 (index 20/36)
+[05/26 04:30:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4807 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_01
+[05/26 04:30:16 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%|          | 0/16 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 16/16 [00:00<00:00, 43804.74it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/7 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 7/7 [00:00<00:00, 37164.72it/s]
+[05/26 04:30:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/53c885e05492439cace4cc626fec00cc
+[05/26 04:30:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Pot_4
+[05/26 04:30:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/0e668fe03f564822ac2c97212f8b420a
+[05/26 04:30:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4807_ceiling.xml
+[05/26 04:30:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4807, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:30:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:30:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects
+[05/26 04:30:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:30:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:30:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:30:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:30:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:30:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender wooden stick with markings and place it in or on the rectangular plastic tray with slot'
+[05/26 04:30:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 4807 episode 0/1 collected=0/2
+[05/26 04:30:19 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:32:20,994] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:33:24 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 04:35:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4807 episode 0 object objawoodenstick_1bd5fecf74bf4cdb987da156d2c0ac96_1_0_2 completed with success=False
+[05/26 04:36:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4807: 1 episodes
+[05/26 04:36:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:36:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:36:05 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4807
+[05/26 04:36:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4807 in 2.95s (batch: 2.78s, save: 0.16s)
+[05/26 04:36:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4807
+[05/26 04:36:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4807: 0/1 successful episodes
+[05/26 04:36:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4860 (index 21/36)
+[05/26 04:36:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4860 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_01
+[05/26 04:36:05 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%|          | 0/52 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 52/52 [00:00<00:00, 40637.94it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/22 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 22/22 [00:00<00:00, 11999.31it/s]
+[05/26 04:36:10 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/b4351af051964283968b5fed441ee844
+[05/26 04:36:10 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/660bfdd0e9144271acdc116632297395
+[05/26 04:36:10 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/1df7263c6e094645987c61c5d60e67d5
+[05/26 04:36:10 Worker 0 INFO scene_maps.py:66] Deleted 1 blacklisted bodies from scene
+[05/26 04:36:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4860_ceiling.xml
+[05/26 04:36:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4860, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:36:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:36:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects
+[05/26 04:36:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:36:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:36:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:36:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:36:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:36:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy orange oval metal ring and place it in or on the frosted glass bowl'
+[05/26 04:36:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 4860 episode 0/1 collected=0/2
+[05/26 04:36:14 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:36:14 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_7 in scene
+[2026-05-26 04:37:23,290] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:37:43 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 04:40:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4860 episode 0 object objametalring_43d9083d869849ed9a6f6c8cbdd7ad54_1_0_4 completed with success=False
+[05/26 04:40:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4860: 1 episodes
+[05/26 04:40:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:40:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:40:10 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4860
+[05/26 04:40:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4860 in 2.79s (batch: 2.70s, save: 0.10s)
+[05/26 04:40:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4860
+[05/26 04:40:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4860: 0/1 successful episodes
+[05/26 04:40:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4933 (index 22/36)
+[05/26 04:40:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4933 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_01
+[05/26 04:40:11 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%|          | 0/46 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 46/46 [00:00<00:00, 45719.90it/s]
+
Extracting:   0%|          | 0/7 [00:00<?, ?it/s]
Extracting:  14%|█▍        | 1/7 [00:00<00:04,  1.44it/s]
Extracting:  29%|██▊       | 2/7 [00:01<00:04,  1.21it/s]
Extracting:  43%|████▎     | 3/7 [00:03<00:04,  1.20s/it]
Extracting:  57%|█████▋    | 4/7 [00:04<00:03,  1.21s/it]
Extracting:  71%|███████▏  | 5/7 [00:06<00:02,  1.34s/it]
Extracting:  86%|████████▌ | 6/7 [00:07<00:01,  1.36s/it]
Extracting: 100%|██████████| 7/7 [00:08<00:00,  1.33s/it]
Extracting: 100%|██████████| 7/7 [00:08<00:00,  1.25s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/17 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 17/17 [00:00<00:00, 3149.57it/s]
+
Extracting:   0%|          | 0/5 [00:00<?, ?it/s]
Extracting:  20%|██        | 1/5 [00:00<00:02,  1.71it/s]
Extracting:  40%|████      | 2/5 [00:01<00:01,  1.71it/s]
Extracting:  60%|██████    | 3/5 [00:01<00:01,  1.77it/s]
Extracting:  80%|████████  | 4/5 [00:02<00:00,  1.81it/s]
Extracting: 100%|██████████| 5/5 [00:02<00:00,  1.70it/s]
Extracting: 100%|██████████| 5/5 [00:02<00:00,  1.72it/s]
+[05/26 04:40:24 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/0aab5f2a6f744c13bffef0fccf53c0e0
+[05/26 04:40:24 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/4b5c2f816e814756960ac3be616fd29d
+[05/26 04:40:24 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/4bf7b7b26a704818b1ed3d703a11855b
+[05/26 04:40:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4933_ceiling.xml
+[05/26 04:40:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4933, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:40:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:40:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects
+[05/26 04:40:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:40:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:40:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:40:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:40:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:40:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the vintage metal lever on dark wooden base and place it in or on the blue decorative ceramic bottle'
+[05/26 04:40:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 4933 episode 0/1 collected=0/2
+[05/26 04:40:28 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:40:28 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesign_70e7e629b1a4405d8227a2f54e0973b9_1_0_2 in scene
+[05/26 04:40:28 Worker 0 WARNING object_manager.py:1238] Could not find object egg_7331ece1e05e35ccf61e870ea8948aac_1_0_2 in scene
+[2026-05-26 04:41:55,258] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:46:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4933 episode 0 object objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_1_0_4 completed with success=False
+[05/26 04:46:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4933: 1 episodes
+[05/26 04:46:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:46:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:46:19 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4933
+[05/26 04:46:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4933 in 3.05s (batch: 2.93s, save: 0.12s)
+[05/26 04:46:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4933
+[05/26 04:46:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4933: 0/1 successful episodes
+[05/26 04:46:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4983 (index 23/36)
+[05/26 04:46:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4983 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_01
+[05/26 04:46:20 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, 53269.90it/s]
+
Extracting:   0%|          | 0/6 [00:00<?, ?it/s]
Extracting:  17%|█▋        | 1/6 [00:01<00:06,  1.37s/it]
Extracting:  33%|███▎      | 2/6 [00:02<00:04,  1.07s/it]
Extracting:  50%|█████     | 3/6 [00:02<00:02,  1.11it/s]
Extracting:  67%|██████▋   | 4/6 [00:04<00:01,  1.04it/s]
Extracting:  83%|████████▎ | 5/6 [00:05<00:01,  1.05s/it]
Extracting: 100%|██████████| 6/6 [00:06<00:00,  1.16s/it]
Extracting: 100%|██████████| 6/6 [00:06<00:00,  1.10s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/27 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 27/27 [00:00<00:00, 6463.46it/s]
+[05/26 04:46:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_6
+[05/26 04:46:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/80f09dd8b3d34005b3625823091978af
+[05/26 04:46:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/f9561598da77463f9eb6fecd4bc301b5
+[05/26 04:46:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4983_ceiling.xml
+[05/26 04:46:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4983, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:46:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:46:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 114 objects
+[05/26 04:46:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:46:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:46:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:46:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:46:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:46:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the wooden gavel and place it in or on the decorative bowl'
+[05/26 04:46:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 4983 episode 0/1 collected=0/2
+[05/26 04:46:48 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:48:40,328] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:54:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4983 episode 0 object objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_6 completed with success=False
+[05/26 04:54:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4983: 1 episodes
+[05/26 04:54:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:54:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:54:14 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4983
+[05/26 04:54:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4983 in 3.08s (batch: 2.99s, save: 0.09s)
+[05/26 04:54:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4983
+[05/26 04:54:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4983: 0/1 successful episodes
+[05/26 04:54:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5023 (index 24/36)
+[05/26 04:54:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5023 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_01
+[05/26 04:54:15 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, 39575.46it/s]
+
Extracting:   0%|          | 0/7 [00:00<?, ?it/s]
Extracting:  14%|█▍        | 1/7 [00:01<00:06,  1.00s/it]
Extracting:  29%|██▊       | 2/7 [00:02<00:06,  1.30s/it]
Extracting:  43%|████▎     | 3/7 [00:03<00:04,  1.22s/it]
Extracting:  57%|█████▋    | 4/7 [00:05<00:03,  1.29s/it]
Extracting:  71%|███████▏  | 5/7 [00:06<00:02,  1.28s/it]
Extracting:  86%|████████▌ | 6/7 [00:07<00:01,  1.38s/it]
Extracting: 100%|██████████| 7/7 [00:09<00:00,  1.35s/it]
Extracting: 100%|██████████| 7/7 [00:09<00:00,  1.31s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/23 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 23/23 [00:00<00:00, 5820.85it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:00<00:01,  1.69it/s]
Extracting:  67%|██████▋   | 2/3 [00:01<00:00,  1.73it/s]
Extracting: 100%|██████████| 3/3 [00:01<00:00,  1.65it/s]
Extracting: 100%|██████████| 3/3 [00:01<00:00,  1.67it/s]
+[05/26 04:54:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/56dccb62700a4c04b42646e060c087f5
+[05/26 04:54:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/561e6757555049fca93f56e479f7cbe4
+[05/26 04:54:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/934bd78c490140198db542aee7f765fa
+[05/26 04:54:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5023_ceiling.xml
+[05/26 04:54:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5023, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:54:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:54:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects
+[05/26 04:54:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:54:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:54:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:54:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:54:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:54:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black rectangular network switch and place it in or on the round bowl'
+[05/26 04:54:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 5023 episode 0/1 collected=0/2
+[05/26 04:54:32 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:54:32 Worker 0 WARNING object_manager.py:1238] Could not find object objacrystalcluster_5cfc211a49164bf2835a121b5069ee08_1_0_7 in scene
+[05/26 04:54:32 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerpen_9ded8666275148929a57190ab939c735_1_0_7 in scene
+[2026-05-26 04:55:46,274] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:56:22 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 05:00:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5023 episode 0 object objanetworkswitch_94d0fae6892d48399d1a42a4313c0184_1_0_4 completed with success=False
+[05/26 05:00:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5023: 1 episodes
+[05/26 05:00:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:00:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:00:30 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5023
+[05/26 05:00:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5023 in 3.24s (batch: 2.92s, save: 0.32s)
+[05/26 05:00:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5023
+[05/26 05:00:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5023: 0/1 successful episodes
+[05/26 05:00:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5048 (index 25/36)
+[05/26 05:00:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5048 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_01
+[05/26 05:00:31 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%|          | 0/51 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 51/51 [00:00<00:00, 61609.88it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/18 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 18/18 [00:00<00:00, 64916.14it/s]
+[05/26 05:00:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/bdd36c94f3f74f22b02b8a069c8d97b7
+[05/26 05:00:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/c2bd80794a3947238fe610f5733be9d2
+[05/26 05:00:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/94f253a91bc14f21be83592faf5891ff
+[05/26 05:00:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5048_ceiling.xml
+[05/26 05:00:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5048, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:00:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:00:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects
+[05/26 05:00:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:00:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:00:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:00:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:00:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:00:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the printedcircuitboard and place it in or on the smooth gray bowl'
+[05/26 05:00:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 5048 episode 0/2 collected=0/2
+[05/26 05:00:39 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 05:00:39 Worker 0 WARNING object_manager.py:1238] Could not find object objapuzzle_c96dad7a8d9f459e83a1cbeeb7370d55_1_0_3 in scene
+[2026-05-26 05:02:29,313] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:07:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5048 episode 0 object objaprintedcircuitboard_0c1eb50df8de4c2d9d4d694014204d86_1_0_6 completed with success=False
+[05/26 05:07:14 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%|          | 0/51 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 51/51 [00:00<00:00, 89539.35it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/18 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 18/18 [00:00<00:00, 51604.56it/s]
+[05/26 05:07:16 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/bdd36c94f3f74f22b02b8a069c8d97b7
+[05/26 05:07:16 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/c2bd80794a3947238fe610f5733be9d2
+[05/26 05:07:16 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/94f253a91bc14f21be83592faf5891ff
+[05/26 05:07:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5048_ceiling.xml
+[05/26 05:07:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5048, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:07:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:07:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects
+[05/26 05:07:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:07:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:07:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:07:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:07:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:07:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blocky pixelated green soldier and place it in or on the smooth gray bowl'
+[05/26 05:07:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 5048 episode 1/2 collected=1/2
+[05/26 05:07:22 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 05:07:22 Worker 0 WARNING object_manager.py:1238] Could not find object objapuzzle_c96dad7a8d9f459e83a1cbeeb7370d55_1_0_3 in scene
+[2026-05-26 05:09:30,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:16:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 5048 episode 1 object objatoysoldier_8f055c6314cd4e6cb1f4236d145f5179_1_0_4 completed with success=False
+[05/26 05:16:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5048: 2 episodes
+[05/26 05:16:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:16:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:16:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:16:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:16:33 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5048
+[05/26 05:16:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5048 in 7.16s (batch: 6.76s, save: 0.40s)
+[05/26 05:16:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5048
+[05/26 05:16:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5048: 0/2 successful episodes
+[05/26 05:16:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5116 (index 26/36)
+[05/26 05:16:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5116 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_01
+[05/26 05:16:33 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'}}
+
Checking objects/objaverse:   0%|          | 0/20 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 20/20 [00:00<00:00, 26877.95it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:01<00:03,  1.33s/it]
Extracting:  50%|█████     | 2/4 [00:02<00:02,  1.13s/it]
Extracting:  75%|███████▌  | 3/4 [00:03<00:01,  1.21s/it]
Extracting: 100%|██████████| 4/4 [00:04<00:00,  1.27s/it]
Extracting: 100%|██████████| 4/4 [00:04<00:00,  1.24s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/9 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 9/9 [00:00<00:00, 3102.30it/s]
+[05/26 05:16:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/472cceee5a224ff6933e7baf31d16641
+[05/26 05:16:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/8c419f6d0cbc4580a2e2b9d273969b97
+[05/26 05:16:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/2911e8c87d49402c9e3c18277c8b2b2a
+[05/26 05:16:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5116_ceiling.xml
+[05/26 05:16:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5116, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:16:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:16:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects
+[05/26 05:16:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:16:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:16:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:16:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:16:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:16:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cine-camera and place it in or on the round shallow small beige bowl'
+[05/26 05:16:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 5116 episode 0/1 collected=0/2
+[05/26 05:16:46 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:18:53,243] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:19:51 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 05:23:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 5116 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_7 completed with success=False
+[05/26 05:23:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5116: 1 episodes
+[05/26 05:23:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:23:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:23:36 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5116
+[05/26 05:23:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5116 in 3.79s (batch: 3.63s, save: 0.16s)
+[05/26 05:23:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5116
+[05/26 05:23:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5116: 0/1 successful episodes
+[05/26 05:23:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5165 (index 27/36)
+[05/26 05:23:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5165 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_01
+[05/26 05:23:37 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%|          | 0/48 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 48/48 [00:00<00:00, 42348.88it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:01<00:02,  1.27s/it]
Extracting:  67%|██████▋   | 2/3 [00:02<00:01,  1.25s/it]
Extracting: 100%|██████████| 3/3 [00:03<00:00,  1.33s/it]
Extracting: 100%|██████████| 3/3 [00:03<00:00,  1.31s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/15 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 15/15 [00:00<00:00, 4081.92it/s]
+[05/26 05:23:43 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_26
+[05/26 05:23:43 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/bcf3a4e49ee14eeda2faca7c7455161d
+[05/26 05:23:43 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/55bd2652583048adb5f261974f28b134
+[05/26 05:23:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5165_ceiling.xml
+[05/26 05:23:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5165, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:23:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:23:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects
+[05/26 05:23:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:23:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:23:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:23:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:23:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:23:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kendama with purple ball and place it in or on the smooth gray medium bowl'
+[05/26 05:23:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 5165 episode 0/1 collected=0/2
+[05/26 05:23:49 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:26:10,884] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:27:52 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 05:31:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 5165 episode 0 object objakendama_66f39ae4147c4fe2ae6d80baf2472e15_1_0_3 completed with success=False
+[05/26 05:31:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5165: 1 episodes
+[05/26 05:31:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:31:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:31:40 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5165
+[05/26 05:31:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5165 in 3.22s (batch: 3.08s, save: 0.13s)
+[05/26 05:31:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5165
+[05/26 05:31:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5165: 0/1 successful episodes
+[05/26 05:31:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5219 (index 28/36)
+[05/26 05:31:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5219 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_01
+[05/26 05:31:40 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'}}
+
Checking objects/objaverse:   0%|          | 0/40 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 40/40 [00:00<00:00, 33387.49it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:01<00:03,  1.22s/it]
Extracting:  50%|█████     | 2/4 [00:02<00:02,  1.25s/it]
Extracting:  75%|███████▌  | 3/4 [00:03<00:01,  1.20s/it]
Extracting: 100%|██████████| 4/4 [00:04<00:00,  1.23s/it]
Extracting: 100%|██████████| 4/4 [00:04<00:00,  1.22s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/15 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 15/15 [00:00<00:00, 11208.72it/s]
+[05/26 05:31:48 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/4b5c2f816e814756960ac3be616fd29d
+[05/26 05:31:48 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/a5cb193f76ec4158b6e2fc655fa4ba92
+[05/26 05:31:48 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/15607bdf52a64f81a7555de4cfad4029
+[05/26 05:31:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5219_ceiling.xml
+[05/26 05:31:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5219, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:31:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:31:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects
+[05/26 05:31:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:31:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:31:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:31:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:31:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:31:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray aerosol can with nozzle and place it in or on the round brown bowl'
+[05/26 05:31:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 5219 episode 0/1 collected=0/2
+[05/26 05:31:53 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 05:31:53 Worker 0 WARNING object_manager.py:1238] Could not find object objainsect_016576dd30c1464f9115584748950ed2_1_0_2 in scene
+[05/26 05:31:53 Worker 0 WARNING object_manager.py:1238] Could not find object apple_1d4990dc37d751a859248eaa9d6ecea0_1_0_2 in scene
+[2026-05-26 05:34:11,341] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:35:06 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 05:38:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 5219 episode 0 object objaaerosolcan_d31366b00ec64a42a05c1eb8a49f346c_1_0_3 completed with success=False
+[05/26 05:38:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5219: 1 episodes
+[05/26 05:38:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:38:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:38:53 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5219
+[05/26 05:38:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5219 in 3.11s (batch: 2.99s, save: 0.13s)
+[05/26 05:38:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5219
+[05/26 05:38:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5219: 0/1 successful episodes
+[05/26 05:38:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5291 (index 29/36)
+[05/26 05:38:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5291 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_01
+[05/26 05:38:54 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'}}
+
Checking objects/objaverse:   0%|          | 0/45 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 45/45 [00:00<00:00, 40347.09it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:01<00:03,  1.18s/it]
Extracting:  50%|█████     | 2/4 [00:02<00:02,  1.44s/it]
Extracting:  75%|███████▌  | 3/4 [00:04<00:01,  1.50s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.46s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.44s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/19 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 19/19 [00:00<00:00, 33163.45it/s]
+[05/26 05:39:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/cbb67bbbe42e42189931574ce0d4926d
+[05/26 05:39:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/54c702aeeb634157ab6bfd6c2f7a78c2
+[05/26 05:39:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/660bfdd0e9144271acdc116632297395
+[05/26 05:39:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5291_ceiling.xml
+[05/26 05:39:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5291, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:39:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:39:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 75 objects
+[05/26 05:39:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:39:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:39:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:39:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:39:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:39:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small green baking packet and place it in or on the rustic stone bowl with bird spout'
+[05/26 05:39:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 5291 episode 0/1 collected=0/2
+[05/26 05:39:07 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 05:39:08 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_7 in scene
+[2026-05-26 05:41:07,643] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:42:10 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 05:48:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 5291 episode 0 object objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_1_0_8 completed with success=False
+[05/26 05:48:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5291: 1 episodes
+[05/26 05:48:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:48:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:48:22 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5291
+[05/26 05:48:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5291 in 3.69s (batch: 3.53s, save: 0.16s)
+[05/26 05:48:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5291
+[05/26 05:48:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5291: 0/1 successful episodes
+[05/26 05:48:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5361 (index 30/36)
+[05/26 05:48:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5361 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_01
+[05/26 05:48:23 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%|          | 0/23 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 23/23 [00:00<00:00, 36499.81it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/4 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 4/4 [00:00<00:00, 28532.68it/s]
+[05/26 05:48:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0
+[05/26 05:48:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/c44ac768e7304df58ebf13ba4c6eed11
+[05/26 05:48:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_24
+[05/26 05:48:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5361_ceiling.xml
+[05/26 05:48:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5361, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:48:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:48:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects
+[05/26 05:48:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:48:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:48:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:48:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:48:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:48:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the medium light brown rough potato and place it in or on the rough gray bowl'
+[05/26 05:48:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 5361 episode 0/1 collected=0/2
+[05/26 05:48:30 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:50:28,379] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:51:27 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 05:57:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 5361 episode 0 object Irishpotato_e1aace659043c0d77e47a9e124a3b2b8_1_0_6 completed with success=False
+[05/26 05:57:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5361: 1 episodes
+[05/26 05:57:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:57:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:57:21 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5361
+[05/26 05:57:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5361 in 2.27s (batch: 2.17s, save: 0.10s)
+[05/26 05:57:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5361
+[05/26 05:57:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5361: 0/1 successful episodes
+[05/26 05:57:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5390 (index 31/36)
+[05/26 05:57:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5390 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_01
+[05/26 05:57:21 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%|          | 0/31 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 31/31 [00:00<00:00, 44712.32it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:00<00:01,  1.16it/s]
Extracting:  67%|██████▋   | 2/3 [00:01<00:01,  1.01s/it]
Extracting: 100%|██████████| 3/3 [00:03<00:00,  1.22s/it]
Extracting: 100%|██████████| 3/3 [00:03<00:00,  1.15s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/12 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 12/12 [00:00<00:00, 7455.44it/s]
+[05/26 05:57:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/b54b110dfccb4ea3a8f5a06cc65edc5a
+[05/26 05:57:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/24ee73c87dcf4161a630bb65dee2a7a5
+[05/26 05:57:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/9ed70e7516894535a9e208904f8db364
+[05/26 05:57:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5390_ceiling.xml
+[05/26 05:57:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5390, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:57:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:57:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects
+[05/26 05:57:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:57:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:57:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:57:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:57:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:57:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the electronic equipment and place it in or on the gray bowl'
+[05/26 05:57:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 5390 episode 0/2 collected=0/2
+[05/26 05:57:30 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:58:58,538] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:59:36 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 06:02:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 5390 episode 0 object objavideocamera_3bd48bc193c54407a7ffdbea3c37a4d6_1_0_7 completed with success=False
+[05/26 06:02:08 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, 77348.85it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/12 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 12/12 [00:00<00:00, 53658.47it/s]
+[05/26 06:02:09 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/b54b110dfccb4ea3a8f5a06cc65edc5a
+[05/26 06:02:09 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/24ee73c87dcf4161a630bb65dee2a7a5
+[05/26 06:02:09 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/9ed70e7516894535a9e208904f8db364
+[05/26 06:02:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5390_ceiling.xml
+[05/26 06:02:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5390, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:02:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:02:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects
+[05/26 06:02:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:02:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:02:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:02:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:02:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:02:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rustic wooden mug and place it in or on the jade green patterned bowl'
+[05/26 06:02:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 5390 episode 1/2 collected=1/2
+[05/26 06:02:12 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:03:21,298] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:04:05 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 06:10:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5390 episode 1 object objamug_8529afb010814c188970381c3596afef_1_0_6 completed with success=False
+[05/26 06:11:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5390: 2 episodes
+[05/26 06:11:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:11:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:11:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:11:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:11:14 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5390
+[05/26 06:11:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5390 in 8.89s (batch: 8.59s, save: 0.31s)
+[05/26 06:11:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5390
+[05/26 06:11:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5390: 0/2 successful episodes
+[05/26 06:11:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5428 (index 32/36)
+[05/26 06:11:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5428 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_01
+[05/26 06:11:15 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%|          | 0/27 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 27/27 [00:00<00:00, 34930.97it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/18 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 18/18 [00:00<00:00, 35478.14it/s]
+[05/26 06:11:20 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_30
+[05/26 06:11:20 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/12ca824c9c81470d994ceccb4b5a9061
+[05/26 06:11:20 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/08dd440442874c8e8ae35494b4aff0a2
+[05/26 06:11:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5428_ceiling.xml
+[05/26 06:11:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5428, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:11:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:11:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects
+[05/26 06:11:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:11:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:11:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:11:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:11:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:11:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth polished cylindrical metal ring and place it in or on the pixelated bowl filled with ramen'
+[05/26 06:11:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 5428 episode 0/1 collected=0/2
+[05/26 06:11:26 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 06:11:26 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_5 in scene
+[05/26 06:11:26 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene
+[2026-05-26 06:13:39,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:14:41 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 06:25:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5428 episode 0 object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 completed with success=False
+[05/26 06:25:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5428: 1 episodes
+[05/26 06:25:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:25:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:25:37 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5428
+[05/26 06:25:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5428 in 3.70s (batch: 3.59s, save: 0.12s)
+[05/26 06:25:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5428
+[05/26 06:25:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5428: 0/1 successful episodes
+[05/26 06:25:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5473 (index 33/36)
+[05/26 06:25:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5473 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_01
+[05/26 06:25:37 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%|          | 0/41 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 41/41 [00:00<00:00, 27300.60it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:01<00:05,  1.75s/it]
Extracting:  50%|█████     | 2/4 [00:03<00:02,  1.48s/it]
Extracting:  75%|███████▌  | 3/4 [00:04<00:01,  1.36s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.32s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.38s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/19 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 19/19 [00:00<00:00, 3555.76it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:00<00:01,  1.15it/s]
Extracting:  67%|██████▋   | 2/3 [00:01<00:00,  1.46it/s]
Extracting: 100%|██████████| 3/3 [00:01<00:00,  1.62it/s]
Extracting: 100%|██████████| 3/3 [00:01<00:00,  1.53it/s]
+[05/26 06:25:47 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/0cb14e8a04de4c39ac8714a98fba9883
+[05/26 06:25:47 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_22
+[05/26 06:25:47 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/42f50ecee3da4df498c0e1b4319366a4
+[05/26 06:25:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5473_ceiling.xml
+[05/26 06:25:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5473, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:25:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:25:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects
+[05/26 06:25:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:25:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:25:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:25:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:25:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:25:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red kit kat chunky package and place it in or on the brown shallow rectangular basin with edges'
+[05/26 06:25:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 5473 episode 0/1 collected=0/2
+[05/26 06:25:50 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 06:25:51 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_1_0_4 in scene
+[05/26 06:25:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaicecreamcone_b7b9fd6fcea7401f88142168ef6616b4_1_0_8 in scene
+[05/26 06:25:51 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_b4fe73bc978b2372694676fd9d6ef462_1_0_8 in scene
+[2026-05-26 06:27:04,688] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:27:34 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 06:32:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 5473 episode 0 object objachocolatebarpackage_c4e4135658354eaa8b72810dbae0270a_1_0_8 completed with success=False
+[05/26 06:32:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5473: 1 episodes
+[05/26 06:32:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:33:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:33:02 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5473
+[05/26 06:33:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5473 in 3.13s (batch: 3.03s, save: 0.10s)
+[05/26 06:33:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5473
+[05/26 06:33:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5473: 0/1 successful episodes
+[05/26 06:33:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5495 (index 34/36)
+[05/26 06:33:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5495 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_01
+[05/26 06:33:02 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'}}
+
Checking objects/objaverse:   0%|          | 0/30 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 30/30 [00:00<00:00, 38597.89it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/15 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 15/15 [00:00<00:00, 67216.41it/s]
+[05/26 06:33:06 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/0aab5f2a6f744c13bffef0fccf53c0e0
+[05/26 06:33:06 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/c14e37cc7b7448bb9ed3bc33106a52b6
+[05/26 06:33:06 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_23
+[05/26 06:33:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5495_ceiling.xml
+[05/26 06:33:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5495, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:33:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:33:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects
+[05/26 06:33:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:33:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:33:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:33:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:33:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:33:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soldering iron and place it in or on the red clay bowl with zigzag pattern'
+[05/26 06:33:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 5495 episode 0/1 collected=0/2
+[05/26 06:33:09 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:34:15,122] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:34:45 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 06:38:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 5495 episode 0 object objasolderingiron_fb480380d29144e7a2a6437208d10d72_1_0_7 completed with success=False
+[05/26 06:38:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5495: 1 episodes
+[05/26 06:38:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:38:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:38:23 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5495
+[05/26 06:38:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5495 in 3.10s (batch: 2.95s, save: 0.15s)
+[05/26 06:38:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5495
+[05/26 06:38:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5495: 0/1 successful episodes
+[05/26 06:38:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5540 (index 35/36)
+[05/26 06:38:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5540 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_01
+[05/26 06:38:24 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%|          | 0/16 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 16/16 [00:00<00:00, 26214.40it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/6 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 6/6 [00:00<00:00, 837.91it/s]
+[05/26 06:38:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/7d2737e16fcf4d40bc549521ba6a2d02
+[05/26 06:38:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/937044a40c3845bf88639056005b8a75
+[05/26 06:38:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/76d1dd1d3f874897b4a630216570d49d
+[05/26 06:38:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5540_ceiling.xml
+[05/26 06:38:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5540, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:38:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:38:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects
+[05/26 06:38:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:38:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:38:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:38:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:38:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:38:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black digital music player and place it in or on the earthy toned handmade ceramic bowl'
+[05/26 06:38:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 5540 episode 0/1 collected=0/2
+[05/26 06:38:36 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:40:35,972] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:41:58 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 06:45:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 5540 episode 0 object objadigitalmusicplayer_718d4a2a12e8402faa7af85890acb08c_1_0_2 completed with success=False
+[05/26 06:45:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5540: 1 episodes
+[05/26 06:45:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:45:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:45:57 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5540
+[05/26 06:45:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5540 in 2.17s (batch: 2.08s, save: 0.09s)
+[05/26 06:45:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5540
+[05/26 06:45:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5540: 0/1 successful episodes
+[05/26 06:45:57 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses
+[05/26 06:45:58 INFO pipeline.py:1496] Completed 36 houses, skipped 0 houses
+[05/26 06:45:58 INFO pipeline.py:1499] Success count: 0, Total count: 41
+[05/26 06:45:58 INFO pipeline.py:1500] Success rate: 0.00%
+Combined 41 episodes from 36 files → /tmp/tmpif31nlmf.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_01/eval/results.csv at-end: 0.0% | oracle: 0.0% of 41 episodes
+[2026-05-26 06:46:02,148] 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_01/eval
+[2026-05-26 06:46:02,148] 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_01/eval/results.csv
diff --git a/pnp_v2/pnp_v2/shards/shard_01/eval/eval_meta.json b/pnp_v2/pnp_v2/shards/shard_01/eval/eval_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4231ece578f9dfb1ea4781af0fb7f4d371b08649
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_01/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_01",
+  "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_01/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_01 --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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442",
+  "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_01/eval/results.csv"
+}
diff --git a/pnp_v2/pnp_v2/shards/shard_01/eval/results.csv b/pnp_v2/pnp_v2/shards/shard_01/eval/results.csv
new file mode 100644
index 0000000000000000000000000000000000000000..06da9269836758c94fe901fdeecc5674be709e75
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_01/eval/results.csv
@@ -0,0 +1,44 @@
+# 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442
+# 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,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.128059,0.0
+latest,Knife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,88.023366,0.0
+latest,Objaaerosolcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.217543,0.0
+latest,Objabutterflyknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.001904,0.0
+latest,Objacanopener,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,47.011166,8.190595
+latest,Objachocolatebarpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,76.03129,0.0
+latest,Objachocolatebunny,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.540592,0.0
+latest,Objacleaningsponge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.300183,0.0
+latest,Objacomputerkeyboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.899829,0.0
+latest,Objadentures,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.304665,0.0
+latest,Objadigitalmusicplayer,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,93.942773,36.381063
+latest,Objafoodpacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.919718,0.0
+latest,Objagavel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.313487,0.0
+latest,Objaicecreamcone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.737021,0.0
+latest,Objakendama,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.555083,0.0
+latest,Objamannequinhand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.872569,0.0
+latest,Objametalloop,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.407159,0.0
+latest,Objametalring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,71.045963,0.0
+latest,Objamountingbracket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.07507,0.0
+latest,Objamoviecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.528203,0.0
+latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.992662,0.0
+latest,Objaneedlenosepliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,114.484417,0.0
+latest,Objanetworkswitch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.346033,0.0
+latest,Objanoveltycard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.753972,0.0
+latest,Objaplayingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,84.432076,0.0
+latest,Objaprintedcircuitboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.56219,0.0
+latest,Objapuzzlepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,77.225306,0.0
+latest,Objascrewdriver,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.322143,0.0
+latest,Objasolderingiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.279042,0.0
+latest,Objaspinningtop,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.629286,0.0
+latest,Objasportsvisor,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.6692,0.0
+latest,Objastoneblock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.758352,0.0
+latest,Objaswitchplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,76.123517,0.0
+latest,Objatelegraphkey,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.482831,0.0
+latest,Objatoysoldier,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,49.659999,13.229331
+latest,Objavideocamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.079521,0.0
+latest,Objawasher,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.685503,0.0
+latest,Objawoodenstick,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.903092,0.0
+latest,OVERALL,0,41,0.0,0.06,8.41,0,0.0,0.06,8.41,46.898993,28.472557
diff --git a/pnp_v2/pnp_v2/shards/shard_01/eval/summary.json b/pnp_v2/pnp_v2/shards/shard_01/eval/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfa5578c8806f36e8bb96f843f00414cfdbbb76f
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_01/eval/summary.json
@@ -0,0 +1,123 @@
+{
+  "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_01",
+  "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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442",
+  "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": 36,
+    "house_success_rates": {
+      "house_3934": 0.0,
+      "house_3947": 0.0,
+      "house_3991": 0.0,
+      "house_4021": 0.0,
+      "house_4079": 0.0,
+      "house_4144": 0.0,
+      "house_4213": 0.0,
+      "house_4289": 0.0,
+      "house_4303": 0.0,
+      "house_4347": 0.0,
+      "house_4382": 0.0,
+      "house_4423": 0.0,
+      "house_4493": 0.0,
+      "house_4545": 0.0,
+      "house_4600": 0.0,
+      "house_4644": 0.0,
+      "house_4702": 0.0,
+      "house_4727": 0.0,
+      "house_4742": 0.0,
+      "house_4773": 0.0,
+      "house_4807": 0.0,
+      "house_4860": 0.0,
+      "house_4933": 0.0,
+      "house_4983": 0.0,
+      "house_5023": 0.0,
+      "house_5048": 0.0,
+      "house_5116": 0.0,
+      "house_5165": 0.0,
+      "house_5219": 0.0,
+      "house_5291": 0.0,
+      "house_5361": 0.0,
+      "house_5390": 0.0,
+      "house_5428": 0.0,
+      "house_5473": 0.0,
+      "house_5495": 0.0,
+      "house_5540": 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_01/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": 46.898993,
+    "jerk_joint_std": 28.472557
+  },
+  "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_01/submission/episode_results.jsonl b/pnp_v2/pnp_v2/shards/shard_01/submission/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5b34d8774213ae3c2af2793996eb98f6331a7e22
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_01/submission/episode_results.jsonl
@@ -0,0 +1,41 @@
+{"house_id": "house_3934", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the can opener and place it in or on the sleek metallic tray with edges", "object_name": "objacanopener_59a4d5ccb6cb449ab0b2c6ab2be80d2e_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3934/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3934", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green manual can opener with lever and place it in or on the simple matte gray bowl, tapered", "object_name": "objacanopener_8237129bfae244d7a62d706937f9f106_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3934/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3947", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the twisted rusty circular metal loop and place it in or on the blue and white ceramic bowl", "object_name": "objametalloop_25c41058e5f24271808b14c0ac40a02a_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3947/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3991", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue puzzle piece with rainbow clouds and place it in or on the round shallow dish with scrollwork", "object_name": "objapuzzlepiece_8882000196234ce7aefd64b149f3064e_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3991/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4021", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue curved brim visor and place it in or on the round black and gray ashtray with notches", "object_name": "objasportsvisor_2fe424987e594148959acafbebe79f41_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4021/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4079", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the butterfly knife with colorful gradient blade and place it in or on the square pink box with patterns", "object_name": "objabutterflyknife_be05554b77de495ea5e92d3bcb7730fa_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4079/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4144", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the realistic pink dentures and place it in or on the green rectangular box with snowflakes", "object_name": "objadentures_db38ff23dc534a8c8d27a1107904ef94_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4144/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4213", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ace card and place it in or on the rustic shallow clay bowl", "object_name": "objaplayingcard_c57676d9c0444741baf5a1154af6bc9b_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4213/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4289", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden top and place it in or on the light ashtray", "object_name": "objaspinningtop_c1badded9748431db08a9c969d3fea5e_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4289/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4303", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage beige computer keyboard with keys and place it in or on the crockery", "object_name": "objacomputerkeyboard_51f63167c849450a89b65fcd7d81e8f7_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4303/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4303", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metallic green pliers and place it in or on the rustic ceramic bowl", "object_name": "objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4303/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4347", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light gray plastic mounting bracket and place it in or on the translucent white smooth plastic bowl", "object_name": "objamountingbracket_89c52ab7b8f149369c832713bad2203c_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4347/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4382", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular rough gray stone block and place it in or on the oval pet bowl", "object_name": "objastoneblock_7a500b5f08d349f09cb3855ed029e6fa_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4382/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4423", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden mannequin hand peace and place it in or on the rustic brown bowl with texture", "object_name": "objamannequinhand_9507be033ab14d248bc3479e16927993_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4423/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4493", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red rectangular novelty license card and place it in or on the round ceramic bowl with floral patterns", "object_name": "objanoveltycard_8e6f2b6b96e24c6096116eb97376abff_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4493/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4545", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black and green ergonomic screwdriver and place it in or on the round gray handmade shallow bowl", "object_name": "objascrewdriver_240935915a744929914369cc12816ab2_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4545/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4600", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow kitchen knife with blue bolster and place it in or on the black bowl with grid", "object_name": "knife_2933d9425c8587a7d4ddaae661ac7598_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4600/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4644", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the creamy ice cream with sprinkles and place it in or on the decorative maroon floral box", "object_name": "objaicecreamcone_cc5e3d70ebba4215890504ea311252ba_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4644/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4702", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold foil chocolate bunny with ribbon and place it in or on the brown wooden leaf tray", "object_name": "objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4702/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4727", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the toy soldier with rifle and place it in or on the green bowl", "object_name": "objatoysoldier_966ecae1911843adbf05131eeb7c63cb_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4727/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4727", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue sponge and place it in or on the blue cooking pot with handles", "object_name": "objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4727/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4742", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the switch plate and place it in or on the rustic brown coconut bowl", "object_name": "objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4742/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4773", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the digital music player and place it in or on the rustic bowl", "object_name": "objadigitalmusicplayer_718d4a2a12e8402faa7af85890acb08c_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4773/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4807", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the slender wooden stick with markings and place it in or on the rectangular plastic tray with slot", "object_name": "objawoodenstick_1bd5fecf74bf4cdb987da156d2c0ac96_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4807/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4860", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy orange oval metal ring and place it in or on the frosted glass bowl", "object_name": "objametalring_43d9083d869849ed9a6f6c8cbdd7ad54_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4860/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4933", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metal lever on dark wooden base and place it in or on the blue decorative ceramic bottle", "object_name": "objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4933/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4983", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden gavel and place it in or on the decorative bowl", "object_name": "objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4983/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5023", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black rectangular network switch and place it in or on the round bowl", "object_name": "objanetworkswitch_94d0fae6892d48399d1a42a4313c0184_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5023/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5048", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the printedcircuitboard and place it in or on the smooth gray bowl", "object_name": "objaprintedcircuitboard_0c1eb50df8de4c2d9d4d694014204d86_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5048/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5048", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blocky pixelated green soldier and place it in or on the smooth gray bowl", "object_name": "objatoysoldier_8f055c6314cd4e6cb1f4236d145f5179_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5048/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5116", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cine-camera and place it in or on the round shallow small beige bowl", "object_name": "objamoviecamera_64bd72851ef349ef9cd24403df1789ad_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5116/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5165", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the kendama with purple ball and place it in or on the smooth gray medium bowl", "object_name": "objakendama_66f39ae4147c4fe2ae6d80baf2472e15_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5165/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5219", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray aerosol can with nozzle and place it in or on the round brown bowl", "object_name": "objaaerosolcan_d31366b00ec64a42a05c1eb8a49f346c_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5219/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5291", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small green baking packet and place it in or on the rustic stone bowl with bird spout", "object_name": "objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5291/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5361", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medium light brown rough potato and place it in or on the rough gray bowl", "object_name": "Irishpotato_e1aace659043c0d77e47a9e124a3b2b8_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5361/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5390", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the electronic equipment and place it in or on the gray bowl", "object_name": "objavideocamera_3bd48bc193c54407a7ffdbea3c37a4d6_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5390/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5390", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic wooden mug and place it in or on the jade green patterned bowl", "object_name": "objamug_8529afb010814c188970381c3596afef_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5390/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5428", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth polished cylindrical metal ring and place it in or on the pixelated bowl filled with ramen", "object_name": "objawasher_43e7ebcba34645448a997c3d03054d33_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5428/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5473", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red kit kat chunky package and place it in or on the brown shallow rectangular basin with edges", "object_name": "objachocolatebarpackage_c4e4135658354eaa8b72810dbae0270a_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5473/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5495", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue soldering iron and place it in or on the red clay bowl with zigzag pattern", "object_name": "objasolderingiron_fb480380d29144e7a2a6437208d10d72_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5495/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5540", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black digital music player and place it in or on the earthy toned handmade ceramic bowl", "object_name": "objadigitalmusicplayer_718d4a2a12e8402faa7af85890acb08c_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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5540/trajectories_batch_1_of_1.h5", "metadata": {}}
diff --git a/pnp_v2/pnp_v2/shards/shard_01/submission/eval.log b/pnp_v2/pnp_v2/shards/shard_01/submission/eval.log
new file mode 100644
index 0000000000000000000000000000000000000000..79bc58c71668685780d6b171f1de7aafe00300e3
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_01/submission/eval.log
@@ -0,0 +1,1477 @@
+[2026-05-26 01:03:53,068] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath']
+[2026-05-26 01:03:53,136] INFO Selected MuJoCo backend: egl
+[2026-05-26 01:03:53,155] 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_01 (source=arg)
+[2026-05-26 01:03:56,002] 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 01:04:10,235] 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 01:04:38,695] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini']
+[2026-05-26 01:04:38,703] INFO Using save_video_sensors=['__none__']
+[2026-05-26 01:04:42,217] 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 01:04:42,379] INFO Using explicit task_horizon override: 450 steps
+[05/26 01:04:42 INFO pipeline.py:677] WandB logging disabled (environment variables not set)
+[2026-05-26 01:04:42,493] INFO JsonEvalRunner initialized: 36 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_01
+[05/26 01:04:42 INFO pipeline.py:1279] Starting house-by-house rollout of 36 houses with 2 episodes each (72 total episodes) using 1 worker processes
+[05/26 01:04:42 INFO pipeline.py:1286] Evaluation configuration:
+[05/26 01:04:42 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_01'),
+ '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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442'),
+ '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': [3934,
+                                        3947,
+                                        3991,
+                                        4021,
+                                        4079,
+                                        4144,
+                                        4213,
+                                        4289,
+                                        4303,
+                                        4347,
+                                        4382,
+                                        4423,
+                                        4493,
+                                        4545,
+                                        4600,
+                                        4644,
+                                        4702,
+                                        4727,
+                                        4742,
+                                        4773,
+                                        4807,
+                                        4860,
+                                        4933,
+                                        4983,
+                                        5023,
+                                        5048,
+                                        5116,
+                                        5165,
+                                        5219,
+                                        5291,
+                                        5361,
+                                        5390,
+                                        5428,
+                                        5473,
+                                        5495,
+                                        5540],
+                         '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 01:04:42,504] 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442
+[05/26 01:04:42 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler
+[05/26 01:04:42 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'}}
+[05/26 01:04:42 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler
+[05/26 01:04:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3934 (index 0/36)
+[05/26 01:04:42 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3934 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_01
+[05/26 01:04:42 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'}}
+Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes
+
Checking objects/objaverse:   0%|          | 0/55 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 55/55 [00:00<00:00, 74801.14it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/33 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 33/33 [00:00<00:00, 49896.19it/s]
+[05/26 01:04:56 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/10578ce7eca64714b260b142553f34f5
+[05/26 01:04:56 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/a37c32fbdbbb4ab19c8b1cccc557f52d
+[05/26 01:04:56 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_29
+[05/26 01:04:56 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+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.
+WARNING:2026-05-26 01:05:14,278: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 01:05:14,278] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu.
+[05/26 01:05:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3934_ceiling.xml
+[05/26 01:05:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3934, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:05:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:05:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 103 objects
+[05/26 01:05:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:05:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:05:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:05:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:05:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:05:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the can opener and place it in or on the sleek metallic tray with edges'
+[05/26 01:05:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 3934 episode 0/2 collected=0/2
+[05/26 01:05:18 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:05:19 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_1_0_5 in scene
+[05/26 01:05:19 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_2_0_5 in scene
+[05/26 01:05:19 Worker 0 WARNING object_manager.py:1238] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_8 in scene
+2026-05-26 01:06:22.046 | INFO     | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0
+[2026-05-26 01:06:56,854] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k)
+[2026-05-26 01:06:59,744] 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 01:09:03,079] INFO Number of parameters in DiT: 1.821428e+07
+[2026-05-26 01:09:06,702] 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 01:09:06,706] 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 01:09:09 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 01:14:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 3934 episode 0 object objacanopener_59a4d5ccb6cb449ab0b2c6ab2be80d2e_1_0_6 completed with success=False
+[05/26 01:14:52 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%|          | 0/55 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 55/55 [00:00<00:00, 67551.02it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/33 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 33/33 [00:00<00:00, 58500.44it/s]
+[05/26 01:16:13 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/10578ce7eca64714b260b142553f34f5
+[05/26 01:16:13 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/a37c32fbdbbb4ab19c8b1cccc557f52d
+[05/26 01:16:13 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_29
+[05/26 01:16:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3934_ceiling.xml
+[05/26 01:16:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3934, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:16:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:16:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 103 objects
+[05/26 01:16:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:16:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:16:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:16:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:16:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:16:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green manual can opener with lever and place it in or on the simple matte gray bowl, tapered'
+[05/26 01:16:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 3934 episode 1/2 collected=1/2
+[05/26 01:16:26 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:16:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_1_0_5 in scene
+[05/26 01:16:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_2_0_5 in scene
+[05/26 01:16:26 Worker 0 WARNING object_manager.py:1238] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_8 in scene
+[05/26 01:20:49 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 01:25:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 3934 episode 1 object objacanopener_8237129bfae244d7a62d706937f9f106_1_0_6 completed with success=False
+[05/26 01:25:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3934: 2 episodes
+[05/26 01:25:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:25:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:25:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:25:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:25:17 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3934
+[05/26 01:25:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3934 in 4.34s (batch: 4.14s, save: 0.20s)
+[05/26 01:25:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3934
+[05/26 01:25:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3934: 0/2 successful episodes
+[05/26 01:25:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3947 (index 1/36)
+[05/26 01:25:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3947 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_01
+[05/26 01:25:18 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%|          | 0/53 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 53/53 [00:00<00:00, 57028.76it/s]
+
Extracting:   0%|          | 0/5 [00:00<?, ?it/s]
Extracting:  20%|██        | 1/5 [00:34<02:17, 34.31s/it]
Extracting:  40%|████      | 2/5 [00:38<00:50, 16.68s/it]
Extracting:  60%|██████    | 3/5 [01:08<00:45, 22.52s/it]
Extracting:  80%|████████  | 4/5 [01:11<00:14, 14.90s/it]
Extracting: 100%|██████████| 5/5 [01:18<00:00, 12.14s/it]
Extracting: 100%|██████████| 5/5 [01:18<00:00, 15.72s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/18 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 18/18 [00:00<00:00, 38382.04it/s]
+[05/26 01:31:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/1ef337c5cfda4d368ceb154c0e9fae0e
+[05/26 01:31:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/bf83213efac34b3cb2ad6ac5ddaf05d9
+[05/26 01:31:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/8c419f6d0cbc4580a2e2b9d273969b97
+[05/26 01:31:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3947_ceiling.xml
+[05/26 01:31:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3947, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:31:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:31:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 81 objects
+[05/26 01:31:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:31:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:31:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:31:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:31:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:31:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the twisted rusty circular metal loop and place it in or on the blue and white ceramic bowl'
+[05/26 01:31:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 3947 episode 0/1 collected=0/2
+[05/26 01:31:44 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 01:32:45,616] 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 01:37:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 3947 episode 0 object objametalloop_25c41058e5f24271808b14c0ac40a02a_1_0_8 completed with success=False
+[05/26 01:37:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3947: 1 episodes
+[05/26 01:37:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:37:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:37:30 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3947
+[05/26 01:37:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3947 in 2.67s (batch: 2.54s, save: 0.13s)
+[05/26 01:37:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3947
+[05/26 01:37:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3947: 0/1 successful episodes
+[05/26 01:37:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3991 (index 2/36)
+[05/26 01:37:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3991 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_01
+[05/26 01:37:31 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, 27685.17it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/11 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 11/11 [00:00<00:00, 22561.05it/s]
+[05/26 01:38:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/f8b3d867de194e6cb587c89d54ed8f0e
+[05/26 01:38:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/659e6917a5b145fc88b46882fde3764d
+[05/26 01:38:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/0aab5f2a6f744c13bffef0fccf53c0e0
+[05/26 01:38:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3991_ceiling.xml
+[05/26 01:38:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3991, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:38:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:38:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects
+[05/26 01:38:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:38:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:38:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:38:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:38:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:38:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue puzzle piece with rainbow clouds and place it in or on the round shallow dish with scrollwork'
+[05/26 01:38:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 3991 episode 0/1 collected=0/2
+[05/26 01:38:07 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 01:40:06,633] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 01:41:05 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 01:44:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 3991 episode 0 object objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_6 completed with success=False
+[05/26 01:44:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3991: 1 episodes
+[05/26 01:44:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:44:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:44:38 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3991
+[05/26 01:44:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3991 in 2.12s (batch: 2.03s, save: 0.09s)
+[05/26 01:44:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3991
+[05/26 01:44:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3991: 0/1 successful episodes
+[05/26 01:44:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4021 (index 3/36)
+[05/26 01:44:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4021 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_01
+[05/26 01:44:39 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, 85396.95it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/7 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 7/7 [00:00<00:00, 48529.14it/s]
+[05/26 01:55:31 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/39afab89520c460598805c0a6bad291c
+[05/26 01:55:31 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/589cc33e26134e808392ac3e956ba868
+[05/26 01:55:31 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/1e23d9b649a643528ce00de750e858de
+[05/26 01:55:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4021_ceiling.xml
+[05/26 01:55:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4021, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:55:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:55:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects
+[05/26 01:55:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:55:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:55:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:55:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:55:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:55:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue curved brim visor and place it in or on the round black and gray ashtray with notches'
+[05/26 01:55:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 4021 episode 0/1 collected=0/2
+[05/26 01:55:33 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 01:56:35,953] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 01:57:39 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 02:00:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4021 episode 0 object objasportsvisor_2fe424987e594148959acafbebe79f41_1_0_7 completed with success=False
+[05/26 02:00:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4021: 1 episodes
+[05/26 02:00:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:00:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:00:44 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4021
+[05/26 02:00:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4021 in 3.42s (batch: 3.27s, save: 0.15s)
+[05/26 02:00:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4021
+[05/26 02:00:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4021: 0/1 successful episodes
+[05/26 02:00:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4079 (index 4/36)
+[05/26 02:00:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4079 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_01
+[05/26 02:00:45 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'}}
+
Checking objects/objaverse:   0%|          | 0/57 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 57/57 [00:00<00:00, 39706.91it/s]
+
Extracting:   0%|          | 0/7 [00:00<?, ?it/s]
Extracting:  14%|█▍        | 1/7 [00:04<00:26,  4.44s/it]
Extracting:  29%|██▊       | 2/7 [00:07<00:17,  3.59s/it]
Extracting:  43%|████▎     | 3/7 [00:09<00:12,  3.06s/it]
Extracting:  57%|█████▋    | 4/7 [00:12<00:08,  2.97s/it]
Extracting:  71%|███████▏  | 5/7 [00:14<00:05,  2.51s/it]
Extracting:  86%|████████▌ | 6/7 [00:22<00:04,  4.25s/it]
Extracting: 100%|██████████| 7/7 [00:23<00:00,  3.49s/it]
Extracting: 100%|██████████| 7/7 [00:23<00:00,  3.42s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/26 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 26/26 [00:00<00:00, 34357.88it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:01<00:03,  1.84s/it]
Extracting:  67%|██████▋   | 2/3 [00:04<00:02,  2.18s/it]
Extracting: 100%|██████████| 3/3 [00:06<00:00,  2.43s/it]
Extracting: 100%|██████████| 3/3 [00:06<00:00,  2.33s/it]
+[05/26 02:01:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/934bd78c490140198db542aee7f765fa
+[05/26 02:01:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/b63ca5b519ba4920a6288da00d9224bd
+[05/26 02:01:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/d318587cfc624b18b52a3a7fb7124373
+[05/26 02:01:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4079_ceiling.xml
+[05/26 02:01:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4079, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:01:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:01:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 94 objects
+[05/26 02:01:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:01:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:01:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:01:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:01:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:01:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butterfly knife with colorful gradient blade and place it in or on the square pink box with patterns'
+[05/26 02:01:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 4079 episode 0/1 collected=0/2
+[05/26 02:01:32 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:03:54,646] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:09:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 4079 episode 0 object objabutterflyknife_be05554b77de495ea5e92d3bcb7730fa_1_0_8 completed with success=False
+[05/26 02:09:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4079: 1 episodes
+[05/26 02:09:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:09:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:09:28 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4079
+[05/26 02:09:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4079 in 3.59s (batch: 3.39s, save: 0.20s)
+[05/26 02:09:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4079
+[05/26 02:09:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4079: 0/1 successful episodes
+[05/26 02:09:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4144 (index 5/36)
+[05/26 02:09:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4144 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_01
+[05/26 02:09:29 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%|          | 0/62 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 62/62 [00:00<00:00, 64288.47it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/29 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 29/29 [00:00<00:00, 50117.35it/s]
+[05/26 02:09:34 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/372c4540cbe148b9bddcbbf1761b5e81
+[05/26 02:09:34 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/39afab89520c460598805c0a6bad291c
+[05/26 02:09:34 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/bf83213efac34b3cb2ad6ac5ddaf05d9
+[05/26 02:09:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4144_ceiling.xml
+[05/26 02:09:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4144, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:09:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:09:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 90 objects
+[05/26 02:09:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:09:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:09:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:09:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:09:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:09:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the realistic pink dentures and place it in or on the green rectangular box with snowflakes'
+[05/26 02:09:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 4144 episode 0/1 collected=0/2
+[05/26 02:09:43 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:09:44 Worker 0 WARNING object_manager.py:1238] Could not find object objashoe_ca4b35d9115e458f8f4c22dfb3d73f7b_1_0_9 in scene
+[05/26 02:09:44 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_9 in scene
+[2026-05-26 02:11:46,895] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:16:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4144 episode 0 object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_9 completed with success=False
+[05/26 02:16:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4144: 1 episodes
+[05/26 02:16:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:16:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:16:50 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4144
+[05/26 02:16:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4144 in 3.34s (batch: 3.22s, save: 0.12s)
+[05/26 02:16:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4144
+[05/26 02:16:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4144: 0/1 successful episodes
+[05/26 02:16:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4213 (index 6/36)
+[05/26 02:16:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4213 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_01
+[05/26 02:16:51 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%|          | 0/44 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 44/44 [00:00<00:00, 43454.06it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/23 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 23/23 [00:00<00:00, 61172.47it/s]
+[05/26 02:16:55 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/496bd9f05a714e608a41a24b169937f6
+[05/26 02:16:55 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Pot_12
+[05/26 02:16:55 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/9ed70e7516894535a9e208904f8db364
+[05/26 02:17:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4213_ceiling.xml
+[05/26 02:17:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4213, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:17:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:17:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 88 objects
+[05/26 02:17:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:17:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:17:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:17:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:17:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:17:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ace card and place it in or on the rustic shallow clay bowl'
+[05/26 02:17:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 4213 episode 0/1 collected=0/2
+[05/26 02:17:02 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:18:43,955] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:24:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 4213 episode 0 object objaplayingcard_c57676d9c0444741baf5a1154af6bc9b_1_0_6 completed with success=False
+[05/26 02:24:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4213: 1 episodes
+[05/26 02:24:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:24:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:24:31 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4213
+[05/26 02:24:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4213 in 4.29s (batch: 4.17s, save: 0.12s)
+[05/26 02:24:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4213
+[05/26 02:24:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4213: 0/1 successful episodes
+[05/26 02:24:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4289 (index 7/36)
+[05/26 02:24:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4289 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_01
+[05/26 02:24:32 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'}}
+
Checking objects/objaverse:   0%|          | 0/25 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 25/25 [00:00<00:00, 22140.54it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:01<00:02,  1.40s/it]
Extracting:  67%|██████▋   | 2/3 [00:02<00:01,  1.25s/it]
Extracting: 100%|██████████| 3/3 [00:03<00:00,  1.26s/it]
Extracting: 100%|██████████| 3/3 [00:03<00:00,  1.27s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/11 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 11/11 [00:00<00:00, 8654.54it/s]
+[05/26 02:24:37 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/1e23d9b649a643528ce00de750e858de
+[05/26 02:24:37 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/c7df0f7671d34fb9817d37067072f9ab
+[05/26 02:24:37 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/576495fa2f9749adaca89aa604aa68b0
+[05/26 02:24:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4289_ceiling.xml
+[05/26 02:24:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4289, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:24:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:24:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects
+[05/26 02:24:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:24:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:24:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:24:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:24:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:24:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the wooden top and place it in or on the light ashtray'
+[05/26 02:24:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 4289 episode 0/1 collected=0/2
+[05/26 02:24:43 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:27:11,648] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:32:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 4289 episode 0 object objaspinningtop_c1badded9748431db08a9c969d3fea5e_1_0_7 completed with success=False
+[05/26 02:32:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4289: 1 episodes
+[05/26 02:32:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:32:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:32:36 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4289
+[05/26 02:32:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4289 in 2.89s (batch: 2.76s, save: 0.13s)
+[05/26 02:32:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4289
+[05/26 02:32:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4289: 0/1 successful episodes
+[05/26 02:32:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4303 (index 8/36)
+[05/26 02:32:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4303 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_01
+[05/26 02:32:37 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%|          | 0/41 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 41/41 [00:00<00:00, 49773.22it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/18 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 18/18 [00:00<00:00, 52356.08it/s]
+[05/26 02:32:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/1e23d9b649a643528ce00de750e858de
+[05/26 02:32:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/63211cbfb48044bcbdbbd30a3aa3bb75
+[05/26 02:32:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/2911e8c87d49402c9e3c18277c8b2b2a
+[05/26 02:32:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4303_ceiling.xml
+[05/26 02:32:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4303, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:32:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:32:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects
+[05/26 02:32:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:32:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:32:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:32:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:32:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:32:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the vintage beige computer keyboard with keys and place it in or on the crockery'
+[05/26 02:32:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 4303 episode 0/2 collected=0/2
+[05/26 02:32:47 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:32:47 Worker 0 WARNING object_manager.py:1238] Could not find object egg_aeca24b46189bee76c22ec0349729d60_1_0_8 in scene
+[2026-05-26 02:34:59,042] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:35:56 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 02:45:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4303 episode 0 object objacomputerkeyboard_51f63167c849450a89b65fcd7d81e8f7_1_0_6 completed with success=False
+[05/26 02:45:29 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, 60170.21it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/18 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 18/18 [00:00<00:00, 48676.64it/s]
+[05/26 02:45:32 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/1e23d9b649a643528ce00de750e858de
+[05/26 02:45:32 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/63211cbfb48044bcbdbbd30a3aa3bb75
+[05/26 02:45:32 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/2911e8c87d49402c9e3c18277c8b2b2a
+[05/26 02:45:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4303_ceiling.xml
+[05/26 02:45:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4303, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:45:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:45:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects
+[05/26 02:45:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:45:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:45:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:45:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:45:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:45:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metallic green pliers and place it in or on the rustic ceramic bowl'
+[05/26 02:45:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 4303 episode 1/2 collected=1/2
+[05/26 02:45:38 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:45:38 Worker 0 WARNING object_manager.py:1238] Could not find object egg_aeca24b46189bee76c22ec0349729d60_1_0_8 in scene
+[2026-05-26 02:47:55,367] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:49:07 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 02:53:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 4303 episode 1 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_8 completed with success=False
+[05/26 02:53:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4303: 2 episodes
+[05/26 02:53:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:53:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:53:47 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4303
+[05/26 02:53:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4303 in 6.55s (batch: 6.21s, save: 0.35s)
+[05/26 02:53:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4303
+[05/26 02:53:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4303: 0/2 successful episodes
+[05/26 02:53:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4347 (index 9/36)
+[05/26 02:53:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4347 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_01
+[05/26 02:53:48 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%|          | 0/18 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 18/18 [00:00<00:00, 30802.72it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/6 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 6/6 [00:00<00:00, 11721.39it/s]
+[05/26 02:53:51 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/5f6ab8152ec9440e9b922def5ae8b8b2
+[05/26 02:53:51 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_2
+[05/26 02:53:51 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_29
+[05/26 02:53:51 Worker 0 INFO scene_maps.py:66] Deleted 1 blacklisted bodies from scene
+[05/26 02:53:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4347_ceiling.xml
+[05/26 02:53:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4347, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:53:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:53:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects
+[05/26 02:53:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:53:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:53:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:53:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:53:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:53:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light gray plastic mounting bracket and place it in or on the translucent white smooth plastic bowl'
+[05/26 02:53:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 4347 episode 0/1 collected=0/2
+[05/26 02:53:53 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:53:54 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene
+[2026-05-26 02:56:16,490] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:57:48 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 03:01:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4347 episode 0 object objamountingbracket_89c52ab7b8f149369c832713bad2203c_1_0_2 completed with success=False
+[05/26 03:01:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4347: 1 episodes
+[05/26 03:01:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:01:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:01:42 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4347
+[05/26 03:01:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4347 in 3.76s (batch: 3.54s, save: 0.22s)
+[05/26 03:01:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4347
+[05/26 03:01:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4347: 0/1 successful episodes
+[05/26 03:01:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4382 (index 10/36)
+[05/26 03:01:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4382 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_01
+[05/26 03:01:43 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%|          | 0/55 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 55/55 [00:00<00:00, 75808.98it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/20 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 20/20 [00:00<00:00, 3848.34it/s]
+[05/26 03:01:49 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/3339ce474c3d4fb3a35952f476ca1e4a
+[05/26 03:01:49 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/0b0079b036c845139d5823255a34da7a
+[05/26 03:01:49 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Pot_28
+[05/26 03:01:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4382_ceiling.xml
+[05/26 03:01:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4382, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:01:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:01:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 82 objects
+[05/26 03:01:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:01:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:01:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:01:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:01:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:01:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular rough gray stone block and place it in or on the oval pet bowl'
+[05/26 03:01:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 4382 episode 0/1 collected=0/2
+[05/26 03:01:58 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:04:16,696] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:05:48 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 03:13:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 4382 episode 0 object objastoneblock_7a500b5f08d349f09cb3855ed029e6fa_1_0_5 completed with success=False
+[05/26 03:13:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4382: 1 episodes
+[05/26 03:13:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:13:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:13:12 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4382
+[05/26 03:13:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4382 in 3.59s (batch: 3.36s, save: 0.23s)
+[05/26 03:13:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4382
+[05/26 03:13:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4382: 0/1 successful episodes
+[05/26 03:13:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4423 (index 11/36)
+[05/26 03:13:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4423 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_01
+[05/26 03:13:13 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%|          | 0/31 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 31/31 [00:00<00:00, 64019.41it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/16 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 16/16 [00:00<00:00, 52551.97it/s]
+[05/26 03:13:14 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/576495fa2f9749adaca89aa604aa68b0
+[05/26 03:13:14 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_14
+[05/26 03:13:14 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/21480103f9f44a52a5ee8bc37fb70bab
+[05/26 03:13:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4423_ceiling.xml
+[05/26 03:13:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4423, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:13:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:13:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects
+[05/26 03:13:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:13:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:13:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:13:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:13:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:13:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the wooden mannequin hand peace and place it in or on the rustic brown bowl with texture'
+[05/26 03:13:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 4423 episode 0/1 collected=0/2
+[05/26 03:13:18 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:15:23,869] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:15:51 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 03:20:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4423 episode 0 object objamannequinhand_9507be033ab14d248bc3479e16927993_1_0_4 completed with success=False
+[05/26 03:20:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4423: 1 episodes
+[05/26 03:20:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:20:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:20:15 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4423
+[05/26 03:20:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4423 in 2.88s (batch: 2.73s, save: 0.15s)
+[05/26 03:20:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4423
+[05/26 03:20:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4423: 0/1 successful episodes
+[05/26 03:20:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4493 (index 12/36)
+[05/26 03:20:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4493 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_01
+[05/26 03:20:15 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%|          | 0/45 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 45/45 [00:00<00:00, 51653.99it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:00<00:02,  1.02it/s]
Extracting:  50%|█████     | 2/4 [00:02<00:02,  1.16s/it]
Extracting:  75%|███████▌  | 3/4 [00:03<00:01,  1.03s/it]
Extracting: 100%|██████████| 4/4 [00:04<00:00,  1.11s/it]
Extracting: 100%|██████████| 4/4 [00:04<00:00,  1.09s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/22 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 22/22 [00:00<00:00, 5692.45it/s]
+[05/26 03:20:23 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/d50f554707f24584b988e2feea162cc5
+[05/26 03:20:23 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/b63ca5b519ba4920a6288da00d9224bd
+[05/26 03:20:23 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/408b385373564c16acda3224de7d2ec6
+[05/26 03:20:23 Worker 0 INFO scene_maps.py:66] Deleted 1 blacklisted bodies from scene
+[05/26 03:20:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4493_ceiling.xml
+[05/26 03:20:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4493, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:20:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:20:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects
+[05/26 03:20:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:20:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:20:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:20:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:20:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:20:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red rectangular novelty license card and place it in or on the round ceramic bowl with floral patterns'
+[05/26 03:20:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 4493 episode 0/1 collected=0/2
+[05/26 03:20:29 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:20:29 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_7 in scene
+[05/26 03:20:29 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_db38ff23dc534a8c8d27a1107904ef94_2_0_7 in scene
+[05/26 03:20:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene
+[2026-05-26 03:22:20,448] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:25:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4493 episode 0 object objanoveltycard_8e6f2b6b96e24c6096116eb97376abff_1_0_4 completed with success=False
+[05/26 03:25:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4493: 1 episodes
+[05/26 03:25:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:25:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:25:35 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4493
+[05/26 03:25:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4493 in 2.55s (batch: 2.39s, save: 0.16s)
+[05/26 03:25:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4493
+[05/26 03:25:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4493: 0/1 successful episodes
+[05/26 03:25:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4545 (index 13/36)
+[05/26 03:25:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4545 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_01
+[05/26 03:25:36 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%|          | 0/35 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 35/35 [00:00<00:00, 56527.01it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/14 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 14/14 [00:00<00:00, 45519.58it/s]
+[05/26 03:25:38 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/1e23d9b649a643528ce00de750e858de
+[05/26 03:25:38 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/b4f97bfa98234ac58b2991d6ac0a18a9
+[05/26 03:25:38 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/03f1185ff6d4428fa81f6fc9db589338
+[05/26 03:25:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4545_ceiling.xml
+[05/26 03:25:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4545, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:25:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:25:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects
+[05/26 03:25:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:25:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:25:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:25:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:25:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:25:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black and green ergonomic screwdriver and place it in or on the round gray handmade shallow bowl'
+[05/26 03:25:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 4545 episode 0/1 collected=0/2
+[05/26 03:25:42 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene
+[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_dbb40c6f9226401f88230d46a12fa50f_1_0_5 in scene
+[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objalogo_de1cf01f0b664aa5bc031db15d7686d2_1_0_6 in scene
+[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3c4427455eeccda33c6e6db585f41627_1_0_6 in scene
+[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturemodel_5ab1392182d345b49b3391f7776339e9_1_0_6 in scene
+[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objapastry_76c0179636324a60bcf8cda8496a1fc7_1_0_6 in scene
+[2026-05-26 03:27:48,843] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:37:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4545 episode 0 object objascrewdriver_240935915a744929914369cc12816ab2_1_0_7 completed with success=False
+[05/26 03:37:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4545: 1 episodes
+[05/26 03:37:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:37:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:37:48 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4545
+[05/26 03:37:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4545 in 3.18s (batch: 3.06s, save: 0.13s)
+[05/26 03:37:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4545
+[05/26 03:37:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4545: 0/1 successful episodes
+[05/26 03:37:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4600 (index 14/36)
+[05/26 03:37:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4600 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_01
+[05/26 03:37:49 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%|          | 0/55 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 55/55 [00:00<00:00, 36686.82it/s]
+
Extracting:   0%|          | 0/8 [00:00<?, ?it/s]
Extracting:  12%|█▎        | 1/8 [00:01<00:08,  1.17s/it]
Extracting:  25%|██▌       | 2/8 [00:02<00:06,  1.06s/it]
Extracting:  38%|███▊      | 3/8 [00:03<00:05,  1.18s/it]
Extracting:  50%|█████     | 4/8 [00:04<00:05,  1.28s/it]
Extracting:  62%|██████▎   | 5/8 [00:05<00:03,  1.08s/it]
Extracting:  75%|███████▌  | 6/8 [00:06<00:02,  1.03s/it]
Extracting:  88%|████████▊ | 7/8 [00:07<00:01,  1.15s/it]
Extracting: 100%|██████████| 8/8 [00:08<00:00,  1.02s/it]
Extracting: 100%|██████████| 8/8 [00:08<00:00,  1.09s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/23 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 23/23 [00:00<00:00, 3718.21it/s]
+
Extracting:   0%|          | 0/5 [00:00<?, ?it/s]
Extracting:  20%|██        | 1/5 [00:00<00:02,  1.65it/s]
Extracting:  40%|████      | 2/5 [00:01<00:01,  1.70it/s]
Extracting:  60%|██████    | 3/5 [00:01<00:01,  1.76it/s]
Extracting:  80%|████████  | 4/5 [00:02<00:00,  1.75it/s]
Extracting: 100%|██████████| 5/5 [00:02<00:00,  1.72it/s]
Extracting: 100%|██████████| 5/5 [00:02<00:00,  1.72it/s]
+[05/26 03:38:04 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/54c702aeeb634157ab6bfd6c2f7a78c2
+[05/26 03:38:04 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/836b48b21dcb4842a208c66f106abf18
+[05/26 03:38:04 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_9
+[05/26 03:38:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4600_ceiling.xml
+[05/26 03:38:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4600, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:38:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:38:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 100 objects
+[05/26 03:38:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:38:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:38:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:38:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:38:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:38:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow kitchen knife with blue bolster and place it in or on the black bowl with grid'
+[05/26 03:38:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 4600 episode 0/1 collected=0/2
+[05/26 03:38:12 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objakitchenutensil_c039015dad6245cabd9044c67ada4252_1_0_2 in scene
+[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene
+[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene
+[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objanecklace_6c0291d03378411d96d26cc95e398a73_1_0_9 in scene
+[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_dc620e458adb44cdb9a0878e5a7e1630_1_0_9 in scene
+[2026-05-26 03:40:23,531] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:46:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4600 episode 0 object knife_2933d9425c8587a7d4ddaae661ac7598_1_0_2 completed with success=False
+[05/26 03:46:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4600: 1 episodes
+[05/26 03:46:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:46:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:46:22 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4600
+[05/26 03:46:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4600 in 2.86s (batch: 2.77s, save: 0.09s)
+[05/26 03:46:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4600
+[05/26 03:46:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4600: 0/1 successful episodes
+[05/26 03:46:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4644 (index 15/36)
+[05/26 03:46:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4644 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_01
+[05/26 03:46:23 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%|          | 0/6 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 6/6 [00:00<00:00, 18262.57it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/5 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 5/5 [00:00<00:00, 4061.10it/s]
+[05/26 03:46:29 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/934bd78c490140198db542aee7f765fa
+[05/26 03:46:29 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/b8cba8b5a69543ce9875c40028261490
+[05/26 03:46:29 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/cfe3c9eed1554f59ad7756e27d97c667
+[05/26 03:46:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4644_ceiling.xml
+[05/26 03:46:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4644, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:46:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:46:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects
+[05/26 03:46:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:46:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:46:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:46:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:46:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:46:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the creamy ice cream with sprinkles and place it in or on the decorative maroon floral box'
+[05/26 03:46:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 4644 episode 0/1 collected=0/2
+[05/26 03:46:31 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:48:10,561] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:49:20 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 03:53:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4644 episode 0 object objaicecreamcone_cc5e3d70ebba4215890504ea311252ba_1_0_2 completed with success=False
+[05/26 03:53:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4644: 1 episodes
+[05/26 03:53:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:53:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:53:34 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4644
+[05/26 03:53:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4644 in 4.43s (batch: 4.27s, save: 0.16s)
+[05/26 03:53:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4644
+[05/26 03:53:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4644: 0/1 successful episodes
+[05/26 03:53:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4702 (index 16/36)
+[05/26 03:53:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4702 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_01
+[05/26 03:53:35 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'}}
+
Checking objects/objaverse:   0%|          | 0/33 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 33/33 [00:00<00:00, 36616.94it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:01<00:03,  1.18s/it]
Extracting:  50%|█████     | 2/4 [00:02<00:02,  1.22s/it]
Extracting:  75%|███████▌  | 3/4 [00:03<00:01,  1.23s/it]
Extracting: 100%|██████████| 4/4 [00:04<00:00,  1.26s/it]
Extracting: 100%|██████████| 4/4 [00:04<00:00,  1.24s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/11 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 11/11 [00:00<00:00, 6471.78it/s]
+[05/26 03:53:42 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/63211cbfb48044bcbdbbd30a3aa3bb75
+[05/26 03:53:42 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/50be4f8b8f744730878916aa38b0f08f
+[05/26 03:53:42 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/576495fa2f9749adaca89aa604aa68b0
+[05/26 03:53:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4702_ceiling.xml
+[05/26 03:53:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4702, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:53:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:53:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects
+[05/26 03:53:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:53:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:53:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:53:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:53:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:53:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gold foil chocolate bunny with ribbon and place it in or on the brown wooden leaf tray'
+[05/26 03:53:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 4702 episode 0/1 collected=0/2
+[05/26 03:53:46 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:55:36,104] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:56:39 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 03:59:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4702 episode 0 object objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_1_0_6 completed with success=False
+[05/26 03:59:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4702: 1 episodes
+[05/26 03:59:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:59:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:59:53 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4702
+[05/26 03:59:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4702 in 3.35s (batch: 3.23s, save: 0.13s)
+[05/26 03:59:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4702
+[05/26 03:59:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4702: 0/1 successful episodes
+[05/26 03:59:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4727 (index 17/36)
+[05/26 03:59:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4727 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_01
+[05/26 03:59:53 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'}}
+
Checking objects/objaverse:   0%|          | 0/60 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 60/60 [00:00<00:00, 43426.79it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:01<00:03,  1.32s/it]
Extracting:  50%|█████     | 2/4 [00:02<00:02,  1.31s/it]
Extracting:  75%|███████▌  | 3/4 [00:03<00:01,  1.18s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.37s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.33s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/29 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 29/29 [00:00<00:00, 8378.21it/s]
+[05/26 04:00:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/fdfd829fe39049a69f6df2289b29dc7f
+[05/26 04:00:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/ede795f1c6f74a99b6952183f340fcb8
+[05/26 04:00:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Pot_28
+[05/26 04:00:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4727_ceiling.xml
+[05/26 04:00:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4727, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:00:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:00:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects
+[05/26 04:00:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:00:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:00:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:00:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:00:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:00:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the toy soldier with rifle and place it in or on the green bowl'
+[05/26 04:00:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 4727 episode 0/2 collected=0/2
+[05/26 04:00:11 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_4 in scene
+[05/26 04:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyrocket_f2c0811c3fc24bcb99a7c96acaf5a793_1_0_4 in scene
+[05/26 04:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_4 in scene
+[05/26 04:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_1dbb7462a3e04e918023f6fec7743ee2_1_0_5 in scene
+[2026-05-26 04:02:11,803] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:03:40 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 04:07:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4727 episode 0 object objatoysoldier_966ecae1911843adbf05131eeb7c63cb_1_0_8 completed with success=False
+[05/26 04:07:21 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%|          | 0/60 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 60/60 [00:00<00:00, 93103.31it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/29 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 29/29 [00:00<00:00, 88013.62it/s]
+[05/26 04:07:23 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/fdfd829fe39049a69f6df2289b29dc7f
+[05/26 04:07:23 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/ede795f1c6f74a99b6952183f340fcb8
+[05/26 04:07:23 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Pot_28
+[05/26 04:07:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4727_ceiling.xml
+[05/26 04:07:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4727, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:07:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:07:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects
+[05/26 04:07:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:07:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:07:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:07:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:07:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:07:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue sponge and place it in or on the blue cooking pot with handles'
+[05/26 04:07:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 4727 episode 1/2 collected=1/2
+[05/26 04:07:28 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_4 in scene
+[05/26 04:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyrocket_f2c0811c3fc24bcb99a7c96acaf5a793_1_0_4 in scene
+[05/26 04:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_4 in scene
+[05/26 04:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_1dbb7462a3e04e918023f6fec7743ee2_1_0_5 in scene
+[2026-05-26 04:09:07,177] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:10:26 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 04:16:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4727 episode 1 object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_9 completed with success=False
+[05/26 04:16:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4727: 2 episodes
+[05/26 04:16:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:16:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:16:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:16:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:16:30 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4727
+[05/26 04:16:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4727 in 7.69s (batch: 7.33s, save: 0.36s)
+[05/26 04:16:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4727
+[05/26 04:16:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4727: 0/2 successful episodes
+[05/26 04:16:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4742 (index 18/36)
+[05/26 04:16:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4742 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_01
+[05/26 04:16:31 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, 18436.50it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/4 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 4/4 [00:00<00:00, 17102.16it/s]
+[05/26 04:16:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/4c75946736424e5397f4eadd336e0bf1
+[05/26 04:16:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/372c4540cbe148b9bddcbbf1761b5e81
+[05/26 04:16:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/b4058303001a4878bbe5c3f248dedd78
+[05/26 04:16:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4742_ceiling.xml
+[05/26 04:16:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4742, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:16:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:16:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 9 objects
+[05/26 04:16:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:16:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:16:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:16:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:16:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:16:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the switch plate and place it in or on the rustic brown coconut bowl'
+[05/26 04:16:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 4742 episode 0/1 collected=0/2
+[05/26 04:16:36 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:16:36 Worker 0 WARNING object_manager.py:1238] Could not find object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_2_0_2 in scene
+[05/26 04:16:36 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_2 in scene
+[2026-05-26 04:18:48,300] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:22:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 4742 episode 0 object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_1_0_2 completed with success=False
+[05/26 04:22:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4742: 1 episodes
+[05/26 04:22:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:22:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:22:54 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4742
+[05/26 04:22:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4742 in 2.73s (batch: 2.60s, save: 0.13s)
+[05/26 04:22:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4742
+[05/26 04:22:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4742: 0/1 successful episodes
+[05/26 04:22:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4773 (index 19/36)
+[05/26 04:22:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4773 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_01
+[05/26 04:22:55 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%|          | 0/22 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 22/22 [00:00<00:00, 38738.32it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/9 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 9/9 [00:00<00:00, 4544.21it/s]
+[05/26 04:22:59 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/836b48b21dcb4842a208c66f106abf18
+[05/26 04:22:59 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/7d2737e16fcf4d40bc549521ba6a2d02
+[05/26 04:22:59 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/bfae6fa9a7f64b9eb16f57c05553c612
+[05/26 04:23:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4773_ceiling.xml
+[05/26 04:23:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4773, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:23:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:23:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects
+[05/26 04:23:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:23:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:23:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:23:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:23:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:23:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the digital music player and place it in or on the rustic bowl'
+[05/26 04:23:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 4773 episode 0/1 collected=0/2
+[05/26 04:23:02 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:24:39,896] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:25:14 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 04:30:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4773 episode 0 object objadigitalmusicplayer_718d4a2a12e8402faa7af85890acb08c_1_0_6 completed with success=False
+[05/26 04:30:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4773: 1 episodes
+[05/26 04:30:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:30:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:30:16 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4773
+[05/26 04:30:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4773 in 3.76s (batch: 3.63s, save: 0.14s)
+[05/26 04:30:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4773
+[05/26 04:30:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4773: 0/1 successful episodes
+[05/26 04:30:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4807 (index 20/36)
+[05/26 04:30:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4807 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_01
+[05/26 04:30:16 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%|          | 0/16 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 16/16 [00:00<00:00, 43804.74it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/7 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 7/7 [00:00<00:00, 37164.72it/s]
+[05/26 04:30:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/53c885e05492439cace4cc626fec00cc
+[05/26 04:30:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Pot_4
+[05/26 04:30:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/0e668fe03f564822ac2c97212f8b420a
+[05/26 04:30:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4807_ceiling.xml
+[05/26 04:30:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4807, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:30:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:30:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects
+[05/26 04:30:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:30:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:30:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:30:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:30:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:30:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender wooden stick with markings and place it in or on the rectangular plastic tray with slot'
+[05/26 04:30:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 4807 episode 0/1 collected=0/2
+[05/26 04:30:19 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:32:20,994] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:33:24 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 04:35:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4807 episode 0 object objawoodenstick_1bd5fecf74bf4cdb987da156d2c0ac96_1_0_2 completed with success=False
+[05/26 04:36:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4807: 1 episodes
+[05/26 04:36:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:36:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:36:05 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4807
+[05/26 04:36:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4807 in 2.95s (batch: 2.78s, save: 0.16s)
+[05/26 04:36:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4807
+[05/26 04:36:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4807: 0/1 successful episodes
+[05/26 04:36:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4860 (index 21/36)
+[05/26 04:36:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4860 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_01
+[05/26 04:36:05 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%|          | 0/52 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 52/52 [00:00<00:00, 40637.94it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/22 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 22/22 [00:00<00:00, 11999.31it/s]
+[05/26 04:36:10 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/b4351af051964283968b5fed441ee844
+[05/26 04:36:10 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/660bfdd0e9144271acdc116632297395
+[05/26 04:36:10 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/1df7263c6e094645987c61c5d60e67d5
+[05/26 04:36:10 Worker 0 INFO scene_maps.py:66] Deleted 1 blacklisted bodies from scene
+[05/26 04:36:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4860_ceiling.xml
+[05/26 04:36:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4860, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:36:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:36:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects
+[05/26 04:36:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:36:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:36:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:36:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:36:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:36:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy orange oval metal ring and place it in or on the frosted glass bowl'
+[05/26 04:36:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 4860 episode 0/1 collected=0/2
+[05/26 04:36:14 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:36:14 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_7 in scene
+[2026-05-26 04:37:23,290] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:37:43 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 04:40:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4860 episode 0 object objametalring_43d9083d869849ed9a6f6c8cbdd7ad54_1_0_4 completed with success=False
+[05/26 04:40:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4860: 1 episodes
+[05/26 04:40:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:40:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:40:10 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4860
+[05/26 04:40:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4860 in 2.79s (batch: 2.70s, save: 0.10s)
+[05/26 04:40:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4860
+[05/26 04:40:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4860: 0/1 successful episodes
+[05/26 04:40:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4933 (index 22/36)
+[05/26 04:40:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4933 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_01
+[05/26 04:40:11 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%|          | 0/46 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 46/46 [00:00<00:00, 45719.90it/s]
+
Extracting:   0%|          | 0/7 [00:00<?, ?it/s]
Extracting:  14%|█▍        | 1/7 [00:00<00:04,  1.44it/s]
Extracting:  29%|██▊       | 2/7 [00:01<00:04,  1.21it/s]
Extracting:  43%|████▎     | 3/7 [00:03<00:04,  1.20s/it]
Extracting:  57%|█████▋    | 4/7 [00:04<00:03,  1.21s/it]
Extracting:  71%|███████▏  | 5/7 [00:06<00:02,  1.34s/it]
Extracting:  86%|████████▌ | 6/7 [00:07<00:01,  1.36s/it]
Extracting: 100%|██████████| 7/7 [00:08<00:00,  1.33s/it]
Extracting: 100%|██████████| 7/7 [00:08<00:00,  1.25s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/17 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 17/17 [00:00<00:00, 3149.57it/s]
+
Extracting:   0%|          | 0/5 [00:00<?, ?it/s]
Extracting:  20%|██        | 1/5 [00:00<00:02,  1.71it/s]
Extracting:  40%|████      | 2/5 [00:01<00:01,  1.71it/s]
Extracting:  60%|██████    | 3/5 [00:01<00:01,  1.77it/s]
Extracting:  80%|████████  | 4/5 [00:02<00:00,  1.81it/s]
Extracting: 100%|██████████| 5/5 [00:02<00:00,  1.70it/s]
Extracting: 100%|██████████| 5/5 [00:02<00:00,  1.72it/s]
+[05/26 04:40:24 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/0aab5f2a6f744c13bffef0fccf53c0e0
+[05/26 04:40:24 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/4b5c2f816e814756960ac3be616fd29d
+[05/26 04:40:24 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/4bf7b7b26a704818b1ed3d703a11855b
+[05/26 04:40:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4933_ceiling.xml
+[05/26 04:40:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4933, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:40:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:40:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects
+[05/26 04:40:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:40:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:40:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:40:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:40:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:40:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the vintage metal lever on dark wooden base and place it in or on the blue decorative ceramic bottle'
+[05/26 04:40:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 4933 episode 0/1 collected=0/2
+[05/26 04:40:28 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:40:28 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesign_70e7e629b1a4405d8227a2f54e0973b9_1_0_2 in scene
+[05/26 04:40:28 Worker 0 WARNING object_manager.py:1238] Could not find object egg_7331ece1e05e35ccf61e870ea8948aac_1_0_2 in scene
+[2026-05-26 04:41:55,258] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:46:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4933 episode 0 object objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_1_0_4 completed with success=False
+[05/26 04:46:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4933: 1 episodes
+[05/26 04:46:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:46:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:46:19 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4933
+[05/26 04:46:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4933 in 3.05s (batch: 2.93s, save: 0.12s)
+[05/26 04:46:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4933
+[05/26 04:46:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4933: 0/1 successful episodes
+[05/26 04:46:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4983 (index 23/36)
+[05/26 04:46:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4983 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_01
+[05/26 04:46:20 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, 53269.90it/s]
+
Extracting:   0%|          | 0/6 [00:00<?, ?it/s]
Extracting:  17%|█▋        | 1/6 [00:01<00:06,  1.37s/it]
Extracting:  33%|███▎      | 2/6 [00:02<00:04,  1.07s/it]
Extracting:  50%|█████     | 3/6 [00:02<00:02,  1.11it/s]
Extracting:  67%|██████▋   | 4/6 [00:04<00:01,  1.04it/s]
Extracting:  83%|████████▎ | 5/6 [00:05<00:01,  1.05s/it]
Extracting: 100%|██████████| 6/6 [00:06<00:00,  1.16s/it]
Extracting: 100%|██████████| 6/6 [00:06<00:00,  1.10s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/27 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 27/27 [00:00<00:00, 6463.46it/s]
+[05/26 04:46:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_6
+[05/26 04:46:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/80f09dd8b3d34005b3625823091978af
+[05/26 04:46:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/f9561598da77463f9eb6fecd4bc301b5
+[05/26 04:46:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4983_ceiling.xml
+[05/26 04:46:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4983, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:46:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:46:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 114 objects
+[05/26 04:46:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:46:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:46:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:46:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:46:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:46:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the wooden gavel and place it in or on the decorative bowl'
+[05/26 04:46:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 4983 episode 0/1 collected=0/2
+[05/26 04:46:48 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:48:40,328] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:54:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4983 episode 0 object objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_6 completed with success=False
+[05/26 04:54:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4983: 1 episodes
+[05/26 04:54:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:54:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:54:14 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4983
+[05/26 04:54:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4983 in 3.08s (batch: 2.99s, save: 0.09s)
+[05/26 04:54:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4983
+[05/26 04:54:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4983: 0/1 successful episodes
+[05/26 04:54:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5023 (index 24/36)
+[05/26 04:54:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5023 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_01
+[05/26 04:54:15 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, 39575.46it/s]
+
Extracting:   0%|          | 0/7 [00:00<?, ?it/s]
Extracting:  14%|█▍        | 1/7 [00:01<00:06,  1.00s/it]
Extracting:  29%|██▊       | 2/7 [00:02<00:06,  1.30s/it]
Extracting:  43%|████▎     | 3/7 [00:03<00:04,  1.22s/it]
Extracting:  57%|█████▋    | 4/7 [00:05<00:03,  1.29s/it]
Extracting:  71%|███████▏  | 5/7 [00:06<00:02,  1.28s/it]
Extracting:  86%|████████▌ | 6/7 [00:07<00:01,  1.38s/it]
Extracting: 100%|██████████| 7/7 [00:09<00:00,  1.35s/it]
Extracting: 100%|██████████| 7/7 [00:09<00:00,  1.31s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/23 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 23/23 [00:00<00:00, 5820.85it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:00<00:01,  1.69it/s]
Extracting:  67%|██████▋   | 2/3 [00:01<00:00,  1.73it/s]
Extracting: 100%|██████████| 3/3 [00:01<00:00,  1.65it/s]
Extracting: 100%|██████████| 3/3 [00:01<00:00,  1.67it/s]
+[05/26 04:54:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/56dccb62700a4c04b42646e060c087f5
+[05/26 04:54:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/561e6757555049fca93f56e479f7cbe4
+[05/26 04:54:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/934bd78c490140198db542aee7f765fa
+[05/26 04:54:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5023_ceiling.xml
+[05/26 04:54:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5023, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:54:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:54:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects
+[05/26 04:54:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:54:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:54:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:54:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:54:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:54:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black rectangular network switch and place it in or on the round bowl'
+[05/26 04:54:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 5023 episode 0/1 collected=0/2
+[05/26 04:54:32 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:54:32 Worker 0 WARNING object_manager.py:1238] Could not find object objacrystalcluster_5cfc211a49164bf2835a121b5069ee08_1_0_7 in scene
+[05/26 04:54:32 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerpen_9ded8666275148929a57190ab939c735_1_0_7 in scene
+[2026-05-26 04:55:46,274] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:56:22 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 05:00:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5023 episode 0 object objanetworkswitch_94d0fae6892d48399d1a42a4313c0184_1_0_4 completed with success=False
+[05/26 05:00:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5023: 1 episodes
+[05/26 05:00:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:00:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:00:30 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5023
+[05/26 05:00:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5023 in 3.24s (batch: 2.92s, save: 0.32s)
+[05/26 05:00:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5023
+[05/26 05:00:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5023: 0/1 successful episodes
+[05/26 05:00:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5048 (index 25/36)
+[05/26 05:00:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5048 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_01
+[05/26 05:00:31 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%|          | 0/51 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 51/51 [00:00<00:00, 61609.88it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/18 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 18/18 [00:00<00:00, 64916.14it/s]
+[05/26 05:00:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/bdd36c94f3f74f22b02b8a069c8d97b7
+[05/26 05:00:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/c2bd80794a3947238fe610f5733be9d2
+[05/26 05:00:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/94f253a91bc14f21be83592faf5891ff
+[05/26 05:00:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5048_ceiling.xml
+[05/26 05:00:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5048, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:00:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:00:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects
+[05/26 05:00:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:00:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:00:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:00:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:00:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:00:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the printedcircuitboard and place it in or on the smooth gray bowl'
+[05/26 05:00:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 5048 episode 0/2 collected=0/2
+[05/26 05:00:39 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 05:00:39 Worker 0 WARNING object_manager.py:1238] Could not find object objapuzzle_c96dad7a8d9f459e83a1cbeeb7370d55_1_0_3 in scene
+[2026-05-26 05:02:29,313] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:07:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5048 episode 0 object objaprintedcircuitboard_0c1eb50df8de4c2d9d4d694014204d86_1_0_6 completed with success=False
+[05/26 05:07:14 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%|          | 0/51 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 51/51 [00:00<00:00, 89539.35it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/18 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 18/18 [00:00<00:00, 51604.56it/s]
+[05/26 05:07:16 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/bdd36c94f3f74f22b02b8a069c8d97b7
+[05/26 05:07:16 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/c2bd80794a3947238fe610f5733be9d2
+[05/26 05:07:16 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/94f253a91bc14f21be83592faf5891ff
+[05/26 05:07:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5048_ceiling.xml
+[05/26 05:07:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5048, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:07:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:07:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects
+[05/26 05:07:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:07:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:07:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:07:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:07:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:07:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blocky pixelated green soldier and place it in or on the smooth gray bowl'
+[05/26 05:07:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 5048 episode 1/2 collected=1/2
+[05/26 05:07:22 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 05:07:22 Worker 0 WARNING object_manager.py:1238] Could not find object objapuzzle_c96dad7a8d9f459e83a1cbeeb7370d55_1_0_3 in scene
+[2026-05-26 05:09:30,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:16:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 5048 episode 1 object objatoysoldier_8f055c6314cd4e6cb1f4236d145f5179_1_0_4 completed with success=False
+[05/26 05:16:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5048: 2 episodes
+[05/26 05:16:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:16:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:16:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:16:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:16:33 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5048
+[05/26 05:16:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5048 in 7.16s (batch: 6.76s, save: 0.40s)
+[05/26 05:16:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5048
+[05/26 05:16:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5048: 0/2 successful episodes
+[05/26 05:16:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5116 (index 26/36)
+[05/26 05:16:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5116 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_01
+[05/26 05:16:33 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'}}
+
Checking objects/objaverse:   0%|          | 0/20 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 20/20 [00:00<00:00, 26877.95it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:01<00:03,  1.33s/it]
Extracting:  50%|█████     | 2/4 [00:02<00:02,  1.13s/it]
Extracting:  75%|███████▌  | 3/4 [00:03<00:01,  1.21s/it]
Extracting: 100%|██████████| 4/4 [00:04<00:00,  1.27s/it]
Extracting: 100%|██████████| 4/4 [00:04<00:00,  1.24s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/9 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 9/9 [00:00<00:00, 3102.30it/s]
+[05/26 05:16:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/472cceee5a224ff6933e7baf31d16641
+[05/26 05:16:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/8c419f6d0cbc4580a2e2b9d273969b97
+[05/26 05:16:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/2911e8c87d49402c9e3c18277c8b2b2a
+[05/26 05:16:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5116_ceiling.xml
+[05/26 05:16:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5116, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:16:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:16:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects
+[05/26 05:16:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:16:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:16:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:16:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:16:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:16:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cine-camera and place it in or on the round shallow small beige bowl'
+[05/26 05:16:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 5116 episode 0/1 collected=0/2
+[05/26 05:16:46 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:18:53,243] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:19:51 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 05:23:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 5116 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_7 completed with success=False
+[05/26 05:23:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5116: 1 episodes
+[05/26 05:23:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:23:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:23:36 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5116
+[05/26 05:23:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5116 in 3.79s (batch: 3.63s, save: 0.16s)
+[05/26 05:23:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5116
+[05/26 05:23:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5116: 0/1 successful episodes
+[05/26 05:23:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5165 (index 27/36)
+[05/26 05:23:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5165 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_01
+[05/26 05:23:37 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%|          | 0/48 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 48/48 [00:00<00:00, 42348.88it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:01<00:02,  1.27s/it]
Extracting:  67%|██████▋   | 2/3 [00:02<00:01,  1.25s/it]
Extracting: 100%|██████████| 3/3 [00:03<00:00,  1.33s/it]
Extracting: 100%|██████████| 3/3 [00:03<00:00,  1.31s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/15 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 15/15 [00:00<00:00, 4081.92it/s]
+[05/26 05:23:43 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_26
+[05/26 05:23:43 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/bcf3a4e49ee14eeda2faca7c7455161d
+[05/26 05:23:43 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/55bd2652583048adb5f261974f28b134
+[05/26 05:23:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5165_ceiling.xml
+[05/26 05:23:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5165, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:23:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:23:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects
+[05/26 05:23:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:23:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:23:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:23:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:23:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:23:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kendama with purple ball and place it in or on the smooth gray medium bowl'
+[05/26 05:23:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 5165 episode 0/1 collected=0/2
+[05/26 05:23:49 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:26:10,884] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:27:52 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 05:31:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 5165 episode 0 object objakendama_66f39ae4147c4fe2ae6d80baf2472e15_1_0_3 completed with success=False
+[05/26 05:31:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5165: 1 episodes
+[05/26 05:31:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:31:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:31:40 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5165
+[05/26 05:31:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5165 in 3.22s (batch: 3.08s, save: 0.13s)
+[05/26 05:31:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5165
+[05/26 05:31:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5165: 0/1 successful episodes
+[05/26 05:31:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5219 (index 28/36)
+[05/26 05:31:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5219 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_01
+[05/26 05:31:40 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'}}
+
Checking objects/objaverse:   0%|          | 0/40 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 40/40 [00:00<00:00, 33387.49it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:01<00:03,  1.22s/it]
Extracting:  50%|█████     | 2/4 [00:02<00:02,  1.25s/it]
Extracting:  75%|███████▌  | 3/4 [00:03<00:01,  1.20s/it]
Extracting: 100%|██████████| 4/4 [00:04<00:00,  1.23s/it]
Extracting: 100%|██████████| 4/4 [00:04<00:00,  1.22s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/15 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 15/15 [00:00<00:00, 11208.72it/s]
+[05/26 05:31:48 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/4b5c2f816e814756960ac3be616fd29d
+[05/26 05:31:48 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/a5cb193f76ec4158b6e2fc655fa4ba92
+[05/26 05:31:48 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/15607bdf52a64f81a7555de4cfad4029
+[05/26 05:31:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5219_ceiling.xml
+[05/26 05:31:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5219, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:31:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:31:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects
+[05/26 05:31:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:31:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:31:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:31:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:31:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:31:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray aerosol can with nozzle and place it in or on the round brown bowl'
+[05/26 05:31:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 5219 episode 0/1 collected=0/2
+[05/26 05:31:53 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 05:31:53 Worker 0 WARNING object_manager.py:1238] Could not find object objainsect_016576dd30c1464f9115584748950ed2_1_0_2 in scene
+[05/26 05:31:53 Worker 0 WARNING object_manager.py:1238] Could not find object apple_1d4990dc37d751a859248eaa9d6ecea0_1_0_2 in scene
+[2026-05-26 05:34:11,341] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:35:06 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 05:38:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 5219 episode 0 object objaaerosolcan_d31366b00ec64a42a05c1eb8a49f346c_1_0_3 completed with success=False
+[05/26 05:38:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5219: 1 episodes
+[05/26 05:38:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:38:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:38:53 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5219
+[05/26 05:38:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5219 in 3.11s (batch: 2.99s, save: 0.13s)
+[05/26 05:38:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5219
+[05/26 05:38:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5219: 0/1 successful episodes
+[05/26 05:38:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5291 (index 29/36)
+[05/26 05:38:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5291 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_01
+[05/26 05:38:54 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'}}
+
Checking objects/objaverse:   0%|          | 0/45 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 45/45 [00:00<00:00, 40347.09it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:01<00:03,  1.18s/it]
Extracting:  50%|█████     | 2/4 [00:02<00:02,  1.44s/it]
Extracting:  75%|███████▌  | 3/4 [00:04<00:01,  1.50s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.46s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.44s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/19 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 19/19 [00:00<00:00, 33163.45it/s]
+[05/26 05:39:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/cbb67bbbe42e42189931574ce0d4926d
+[05/26 05:39:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/54c702aeeb634157ab6bfd6c2f7a78c2
+[05/26 05:39:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/660bfdd0e9144271acdc116632297395
+[05/26 05:39:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5291_ceiling.xml
+[05/26 05:39:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5291, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:39:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:39:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 75 objects
+[05/26 05:39:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:39:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:39:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:39:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:39:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:39:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small green baking packet and place it in or on the rustic stone bowl with bird spout'
+[05/26 05:39:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 5291 episode 0/1 collected=0/2
+[05/26 05:39:07 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 05:39:08 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_7 in scene
+[2026-05-26 05:41:07,643] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:42:10 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 05:48:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 5291 episode 0 object objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_1_0_8 completed with success=False
+[05/26 05:48:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5291: 1 episodes
+[05/26 05:48:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:48:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:48:22 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5291
+[05/26 05:48:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5291 in 3.69s (batch: 3.53s, save: 0.16s)
+[05/26 05:48:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5291
+[05/26 05:48:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5291: 0/1 successful episodes
+[05/26 05:48:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5361 (index 30/36)
+[05/26 05:48:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5361 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_01
+[05/26 05:48:23 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%|          | 0/23 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 23/23 [00:00<00:00, 36499.81it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/4 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 4/4 [00:00<00:00, 28532.68it/s]
+[05/26 05:48:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0
+[05/26 05:48:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/c44ac768e7304df58ebf13ba4c6eed11
+[05/26 05:48:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_24
+[05/26 05:48:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5361_ceiling.xml
+[05/26 05:48:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5361, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:48:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:48:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects
+[05/26 05:48:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:48:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:48:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:48:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:48:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:48:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the medium light brown rough potato and place it in or on the rough gray bowl'
+[05/26 05:48:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 5361 episode 0/1 collected=0/2
+[05/26 05:48:30 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:50:28,379] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:51:27 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 05:57:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 5361 episode 0 object Irishpotato_e1aace659043c0d77e47a9e124a3b2b8_1_0_6 completed with success=False
+[05/26 05:57:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5361: 1 episodes
+[05/26 05:57:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:57:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:57:21 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5361
+[05/26 05:57:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5361 in 2.27s (batch: 2.17s, save: 0.10s)
+[05/26 05:57:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5361
+[05/26 05:57:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5361: 0/1 successful episodes
+[05/26 05:57:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5390 (index 31/36)
+[05/26 05:57:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5390 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_01
+[05/26 05:57:21 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%|          | 0/31 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 31/31 [00:00<00:00, 44712.32it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:00<00:01,  1.16it/s]
Extracting:  67%|██████▋   | 2/3 [00:01<00:01,  1.01s/it]
Extracting: 100%|██████████| 3/3 [00:03<00:00,  1.22s/it]
Extracting: 100%|██████████| 3/3 [00:03<00:00,  1.15s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/12 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 12/12 [00:00<00:00, 7455.44it/s]
+[05/26 05:57:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/b54b110dfccb4ea3a8f5a06cc65edc5a
+[05/26 05:57:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/24ee73c87dcf4161a630bb65dee2a7a5
+[05/26 05:57:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/9ed70e7516894535a9e208904f8db364
+[05/26 05:57:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5390_ceiling.xml
+[05/26 05:57:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5390, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:57:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:57:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects
+[05/26 05:57:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:57:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:57:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:57:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:57:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:57:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the electronic equipment and place it in or on the gray bowl'
+[05/26 05:57:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 5390 episode 0/2 collected=0/2
+[05/26 05:57:30 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:58:58,538] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:59:36 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 06:02:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 5390 episode 0 object objavideocamera_3bd48bc193c54407a7ffdbea3c37a4d6_1_0_7 completed with success=False
+[05/26 06:02:08 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, 77348.85it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/12 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 12/12 [00:00<00:00, 53658.47it/s]
+[05/26 06:02:09 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/b54b110dfccb4ea3a8f5a06cc65edc5a
+[05/26 06:02:09 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/24ee73c87dcf4161a630bb65dee2a7a5
+[05/26 06:02:09 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/9ed70e7516894535a9e208904f8db364
+[05/26 06:02:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5390_ceiling.xml
+[05/26 06:02:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5390, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:02:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:02:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects
+[05/26 06:02:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:02:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:02:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:02:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:02:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:02:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rustic wooden mug and place it in or on the jade green patterned bowl'
+[05/26 06:02:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 5390 episode 1/2 collected=1/2
+[05/26 06:02:12 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:03:21,298] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:04:05 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 06:10:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5390 episode 1 object objamug_8529afb010814c188970381c3596afef_1_0_6 completed with success=False
+[05/26 06:11:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5390: 2 episodes
+[05/26 06:11:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:11:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:11:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:11:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:11:14 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5390
+[05/26 06:11:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5390 in 8.89s (batch: 8.59s, save: 0.31s)
+[05/26 06:11:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5390
+[05/26 06:11:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5390: 0/2 successful episodes
+[05/26 06:11:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5428 (index 32/36)
+[05/26 06:11:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5428 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_01
+[05/26 06:11:15 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%|          | 0/27 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 27/27 [00:00<00:00, 34930.97it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/18 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 18/18 [00:00<00:00, 35478.14it/s]
+[05/26 06:11:20 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_30
+[05/26 06:11:20 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/12ca824c9c81470d994ceccb4b5a9061
+[05/26 06:11:20 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/08dd440442874c8e8ae35494b4aff0a2
+[05/26 06:11:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5428_ceiling.xml
+[05/26 06:11:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5428, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:11:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:11:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects
+[05/26 06:11:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:11:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:11:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:11:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:11:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:11:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth polished cylindrical metal ring and place it in or on the pixelated bowl filled with ramen'
+[05/26 06:11:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 5428 episode 0/1 collected=0/2
+[05/26 06:11:26 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 06:11:26 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_5 in scene
+[05/26 06:11:26 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene
+[2026-05-26 06:13:39,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:14:41 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 06:25:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5428 episode 0 object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 completed with success=False
+[05/26 06:25:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5428: 1 episodes
+[05/26 06:25:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:25:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:25:37 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5428
+[05/26 06:25:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5428 in 3.70s (batch: 3.59s, save: 0.12s)
+[05/26 06:25:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5428
+[05/26 06:25:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5428: 0/1 successful episodes
+[05/26 06:25:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5473 (index 33/36)
+[05/26 06:25:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5473 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_01
+[05/26 06:25:37 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%|          | 0/41 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 41/41 [00:00<00:00, 27300.60it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:01<00:05,  1.75s/it]
Extracting:  50%|█████     | 2/4 [00:03<00:02,  1.48s/it]
Extracting:  75%|███████▌  | 3/4 [00:04<00:01,  1.36s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.32s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.38s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/19 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 19/19 [00:00<00:00, 3555.76it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:00<00:01,  1.15it/s]
Extracting:  67%|██████▋   | 2/3 [00:01<00:00,  1.46it/s]
Extracting: 100%|██████████| 3/3 [00:01<00:00,  1.62it/s]
Extracting: 100%|██████████| 3/3 [00:01<00:00,  1.53it/s]
+[05/26 06:25:47 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/0cb14e8a04de4c39ac8714a98fba9883
+[05/26 06:25:47 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_22
+[05/26 06:25:47 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/42f50ecee3da4df498c0e1b4319366a4
+[05/26 06:25:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5473_ceiling.xml
+[05/26 06:25:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5473, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:25:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:25:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects
+[05/26 06:25:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:25:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:25:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:25:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:25:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:25:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red kit kat chunky package and place it in or on the brown shallow rectangular basin with edges'
+[05/26 06:25:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 5473 episode 0/1 collected=0/2
+[05/26 06:25:50 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 06:25:51 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_1_0_4 in scene
+[05/26 06:25:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaicecreamcone_b7b9fd6fcea7401f88142168ef6616b4_1_0_8 in scene
+[05/26 06:25:51 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_b4fe73bc978b2372694676fd9d6ef462_1_0_8 in scene
+[2026-05-26 06:27:04,688] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:27:34 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 06:32:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 5473 episode 0 object objachocolatebarpackage_c4e4135658354eaa8b72810dbae0270a_1_0_8 completed with success=False
+[05/26 06:32:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5473: 1 episodes
+[05/26 06:32:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:33:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:33:02 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5473
+[05/26 06:33:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5473 in 3.13s (batch: 3.03s, save: 0.10s)
+[05/26 06:33:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5473
+[05/26 06:33:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5473: 0/1 successful episodes
+[05/26 06:33:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5495 (index 34/36)
+[05/26 06:33:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5495 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_01
+[05/26 06:33:02 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'}}
+
Checking objects/objaverse:   0%|          | 0/30 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 30/30 [00:00<00:00, 38597.89it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/15 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 15/15 [00:00<00:00, 67216.41it/s]
+[05/26 06:33:06 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/0aab5f2a6f744c13bffef0fccf53c0e0
+[05/26 06:33:06 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/c14e37cc7b7448bb9ed3bc33106a52b6
+[05/26 06:33:06 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_23
+[05/26 06:33:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5495_ceiling.xml
+[05/26 06:33:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5495, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:33:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:33:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects
+[05/26 06:33:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:33:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:33:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:33:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:33:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:33:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soldering iron and place it in or on the red clay bowl with zigzag pattern'
+[05/26 06:33:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 5495 episode 0/1 collected=0/2
+[05/26 06:33:09 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:34:15,122] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:34:45 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 06:38:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 5495 episode 0 object objasolderingiron_fb480380d29144e7a2a6437208d10d72_1_0_7 completed with success=False
+[05/26 06:38:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5495: 1 episodes
+[05/26 06:38:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:38:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:38:23 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5495
+[05/26 06:38:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5495 in 3.10s (batch: 2.95s, save: 0.15s)
+[05/26 06:38:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5495
+[05/26 06:38:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5495: 0/1 successful episodes
+[05/26 06:38:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5540 (index 35/36)
+[05/26 06:38:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5540 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_01
+[05/26 06:38:24 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%|          | 0/16 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 16/16 [00:00<00:00, 26214.40it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/6 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 6/6 [00:00<00:00, 837.91it/s]
+[05/26 06:38:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/7d2737e16fcf4d40bc549521ba6a2d02
+[05/26 06:38:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/937044a40c3845bf88639056005b8a75
+[05/26 06:38:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/76d1dd1d3f874897b4a630216570d49d
+[05/26 06:38:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5540_ceiling.xml
+[05/26 06:38:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5540, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:38:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:38:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects
+[05/26 06:38:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:38:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:38:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:38:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:38:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:38:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black digital music player and place it in or on the earthy toned handmade ceramic bowl'
+[05/26 06:38:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 5540 episode 0/1 collected=0/2
+[05/26 06:38:36 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:40:35,972] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:41:58 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 06:45:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 5540 episode 0 object objadigitalmusicplayer_718d4a2a12e8402faa7af85890acb08c_1_0_2 completed with success=False
+[05/26 06:45:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5540: 1 episodes
+[05/26 06:45:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:45:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:45:57 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5540
+[05/26 06:45:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5540 in 2.17s (batch: 2.08s, save: 0.09s)
+[05/26 06:45:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5540
+[05/26 06:45:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5540: 0/1 successful episodes
+[05/26 06:45:57 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses
+[05/26 06:45:58 INFO pipeline.py:1496] Completed 36 houses, skipped 0 houses
+[05/26 06:45:58 INFO pipeline.py:1499] Success count: 0, Total count: 41
+[05/26 06:45:58 INFO pipeline.py:1500] Success rate: 0.00%
+Combined 41 episodes from 36 files → /tmp/tmpif31nlmf.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_01/eval/results.csv at-end: 0.0% | oracle: 0.0% of 41 episodes
+[2026-05-26 06:46:02,148] 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_01/eval
+[2026-05-26 06:46:02,148] 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_01/eval/results.csv
diff --git a/pnp_v2/pnp_v2/shards/shard_01/submission/eval_meta.json b/pnp_v2/pnp_v2/shards/shard_01/submission/eval_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4231ece578f9dfb1ea4781af0fb7f4d371b08649
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_01/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_01",
+  "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_01/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_01 --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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442",
+  "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_01/eval/results.csv"
+}
diff --git a/pnp_v2/pnp_v2/shards/shard_01/submission/results.csv b/pnp_v2/pnp_v2/shards/shard_01/submission/results.csv
new file mode 100644
index 0000000000000000000000000000000000000000..06da9269836758c94fe901fdeecc5674be709e75
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_01/submission/results.csv
@@ -0,0 +1,44 @@
+# 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442
+# 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,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.128059,0.0
+latest,Knife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,88.023366,0.0
+latest,Objaaerosolcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.217543,0.0
+latest,Objabutterflyknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.001904,0.0
+latest,Objacanopener,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,47.011166,8.190595
+latest,Objachocolatebarpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,76.03129,0.0
+latest,Objachocolatebunny,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.540592,0.0
+latest,Objacleaningsponge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.300183,0.0
+latest,Objacomputerkeyboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.899829,0.0
+latest,Objadentures,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.304665,0.0
+latest,Objadigitalmusicplayer,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,93.942773,36.381063
+latest,Objafoodpacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.919718,0.0
+latest,Objagavel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.313487,0.0
+latest,Objaicecreamcone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.737021,0.0
+latest,Objakendama,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.555083,0.0
+latest,Objamannequinhand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.872569,0.0
+latest,Objametalloop,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.407159,0.0
+latest,Objametalring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,71.045963,0.0
+latest,Objamountingbracket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.07507,0.0
+latest,Objamoviecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.528203,0.0
+latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.992662,0.0
+latest,Objaneedlenosepliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,114.484417,0.0
+latest,Objanetworkswitch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.346033,0.0
+latest,Objanoveltycard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.753972,0.0
+latest,Objaplayingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,84.432076,0.0
+latest,Objaprintedcircuitboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.56219,0.0
+latest,Objapuzzlepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,77.225306,0.0
+latest,Objascrewdriver,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.322143,0.0
+latest,Objasolderingiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.279042,0.0
+latest,Objaspinningtop,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.629286,0.0
+latest,Objasportsvisor,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.6692,0.0
+latest,Objastoneblock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.758352,0.0
+latest,Objaswitchplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,76.123517,0.0
+latest,Objatelegraphkey,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.482831,0.0
+latest,Objatoysoldier,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,49.659999,13.229331
+latest,Objavideocamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.079521,0.0
+latest,Objawasher,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.685503,0.0
+latest,Objawoodenstick,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.903092,0.0
+latest,OVERALL,0,41,0.0,0.06,8.41,0,0.0,0.06,8.41,46.898993,28.472557
diff --git a/pnp_v2/pnp_v2/shards/shard_01/submission/run_command.sh b/pnp_v2/pnp_v2/shards/shard_01/submission/run_command.sh
new file mode 100644
index 0000000000000000000000000000000000000000..4a1d1ceeefa792172ecaaa1a7eaac652eb1c624b
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_01/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_01/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_01 --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_01/submission/shard_01_results.csv b/pnp_v2/pnp_v2/shards/shard_01/submission/shard_01_results.csv
new file mode 100644
index 0000000000000000000000000000000000000000..06da9269836758c94fe901fdeecc5674be709e75
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_01/submission/shard_01_results.csv
@@ -0,0 +1,44 @@
+# 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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442
+# 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,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.128059,0.0
+latest,Knife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,88.023366,0.0
+latest,Objaaerosolcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.217543,0.0
+latest,Objabutterflyknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.001904,0.0
+latest,Objacanopener,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,47.011166,8.190595
+latest,Objachocolatebarpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,76.03129,0.0
+latest,Objachocolatebunny,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.540592,0.0
+latest,Objacleaningsponge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.300183,0.0
+latest,Objacomputerkeyboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.899829,0.0
+latest,Objadentures,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.304665,0.0
+latest,Objadigitalmusicplayer,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,93.942773,36.381063
+latest,Objafoodpacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.919718,0.0
+latest,Objagavel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.313487,0.0
+latest,Objaicecreamcone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.737021,0.0
+latest,Objakendama,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.555083,0.0
+latest,Objamannequinhand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.872569,0.0
+latest,Objametalloop,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.407159,0.0
+latest,Objametalring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,71.045963,0.0
+latest,Objamountingbracket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.07507,0.0
+latest,Objamoviecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.528203,0.0
+latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.992662,0.0
+latest,Objaneedlenosepliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,114.484417,0.0
+latest,Objanetworkswitch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.346033,0.0
+latest,Objanoveltycard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.753972,0.0
+latest,Objaplayingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,84.432076,0.0
+latest,Objaprintedcircuitboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.56219,0.0
+latest,Objapuzzlepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,77.225306,0.0
+latest,Objascrewdriver,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.322143,0.0
+latest,Objasolderingiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.279042,0.0
+latest,Objaspinningtop,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.629286,0.0
+latest,Objasportsvisor,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.6692,0.0
+latest,Objastoneblock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.758352,0.0
+latest,Objaswitchplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,76.123517,0.0
+latest,Objatelegraphkey,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.482831,0.0
+latest,Objatoysoldier,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,49.659999,13.229331
+latest,Objavideocamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.079521,0.0
+latest,Objawasher,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.685503,0.0
+latest,Objawoodenstick,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.903092,0.0
+latest,OVERALL,0,41,0.0,0.06,8.41,0,0.0,0.06,8.41,46.898993,28.472557
diff --git a/pnp_v2/pnp_v2/shards/shard_01/submission/submission_manifest.json b/pnp_v2/pnp_v2/shards/shard_01/submission/submission_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..58cbffd9f9cfb20dfd8278d64c0999a75852c5f0
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_01/submission/submission_manifest.json
@@ -0,0 +1,81 @@
+{
+  "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_01",
+  "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": 36,
+    "house_success_rates": {
+      "house_3934": 0.0,
+      "house_3947": 0.0,
+      "house_3991": 0.0,
+      "house_4021": 0.0,
+      "house_4079": 0.0,
+      "house_4144": 0.0,
+      "house_4213": 0.0,
+      "house_4289": 0.0,
+      "house_4303": 0.0,
+      "house_4347": 0.0,
+      "house_4382": 0.0,
+      "house_4423": 0.0,
+      "house_4493": 0.0,
+      "house_4545": 0.0,
+      "house_4600": 0.0,
+      "house_4644": 0.0,
+      "house_4702": 0.0,
+      "house_4727": 0.0,
+      "house_4742": 0.0,
+      "house_4773": 0.0,
+      "house_4807": 0.0,
+      "house_4860": 0.0,
+      "house_4933": 0.0,
+      "house_4983": 0.0,
+      "house_5023": 0.0,
+      "house_5048": 0.0,
+      "house_5116": 0.0,
+      "house_5165": 0.0,
+      "house_5219": 0.0,
+      "house_5291": 0.0,
+      "house_5361": 0.0,
+      "house_5390": 0.0,
+      "house_5428": 0.0,
+      "house_5473": 0.0,
+      "house_5495": 0.0,
+      "house_5540": 0.0
+    },
+    "oracle_done_count": 0,
+    "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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442",
+  "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_01/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_01/submission/summary.json b/pnp_v2/pnp_v2/shards/shard_01/submission/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfa5578c8806f36e8bb96f843f00414cfdbbb76f
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_01/submission/summary.json
@@ -0,0 +1,123 @@
+{
+  "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_01",
+  "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_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442",
+  "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": 36,
+    "house_success_rates": {
+      "house_3934": 0.0,
+      "house_3947": 0.0,
+      "house_3991": 0.0,
+      "house_4021": 0.0,
+      "house_4079": 0.0,
+      "house_4144": 0.0,
+      "house_4213": 0.0,
+      "house_4289": 0.0,
+      "house_4303": 0.0,
+      "house_4347": 0.0,
+      "house_4382": 0.0,
+      "house_4423": 0.0,
+      "house_4493": 0.0,
+      "house_4545": 0.0,
+      "house_4600": 0.0,
+      "house_4644": 0.0,
+      "house_4702": 0.0,
+      "house_4727": 0.0,
+      "house_4742": 0.0,
+      "house_4773": 0.0,
+      "house_4807": 0.0,
+      "house_4860": 0.0,
+      "house_4933": 0.0,
+      "house_4983": 0.0,
+      "house_5023": 0.0,
+      "house_5048": 0.0,
+      "house_5116": 0.0,
+      "house_5165": 0.0,
+      "house_5219": 0.0,
+      "house_5291": 0.0,
+      "house_5361": 0.0,
+      "house_5390": 0.0,
+      "house_5428": 0.0,
+      "house_5473": 0.0,
+      "house_5495": 0.0,
+      "house_5540": 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_01/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": 46.898993,
+    "jerk_joint_std": 28.472557
+  },
+  "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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log b/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log
new file mode 100644
index 0000000000000000000000000000000000000000..07d3909dd0d4e92ebb79a134e46da81780be1175
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log
@@ -0,0 +1,2840 @@
+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_02'),
+ '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_02/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': [3,
+                                        109,
+                                        202,
+                                        237,
+                                        259,
+                                        297,
+                                        350,
+                                        401,
+                                        473,
+                                        507,
+                                        536,
+                                        1014,
+                                        1039,
+                                        1082,
+                                        1124,
+                                        1184,
+                                        1229,
+                                        1237,
+                                        1313,
+                                        1382,
+                                        1458,
+                                        1530,
+                                        1558,
+                                        1563,
+                                        1608,
+                                        1658,
+                                        1695,
+                                        1742,
+                                        1788,
+                                        1848,
+                                        1859,
+                                        1879,
+                                        1943,
+                                        2007,
+                                        2066,
+                                        2119,
+                                        2151,
+                                        2181,
+                                        2214,
+                                        2255,
+                                        2309,
+                                        2334,
+                                        2382,
+                                        2419,
+                                        2466,
+                                        2488,
+                                        2521,
+                                        2554,
+                                        2617,
+                                        2652,
+                                        2696,
+                                        2716,
+                                        2771,
+                                        2826,
+                                        2865,
+                                        2938,
+                                        3014,
+                                        3031,
+                                        3092,
+                                        3135,
+                                        3211,
+                                        3275,
+                                        3306,
+                                        3327,
+                                        3368,
+                                        3431,
+                                        3479,
+                                        3521,
+                                        3530,
+                                        3547,
+                                        3597,
+                                        3651,
+                                        3673,
+                                        3757,
+                                        3790,
+                                        3853,
+                                        3906,
+                                        3935,
+                                        3954,
+                                        3992,
+                                        4025,
+                                        4085,
+                                        4150,
+                                        4231,
+                                        4290,
+                                        4334,
+                                        4350,
+                                        4383,
+                                        4425,
+                                        4500,
+                                        4549,
+                                        4615,
+                                        4661,
+                                        4705,
+                                        4745,
+                                        4781,
+                                        4783,
+                                        4809,
+                                        4870,
+                                        4947,
+                                        4986,
+                                        5045,
+                                        5059,
+                                        5128,
+                                        5169,
+                                        5232,
+                                        5297,
+                                        5384,
+                                        5431,
+                                        5474,
+                                        5505,
+                                        5541],
+                         '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 3 (index 0/112)	[pipeline.py: 473]
+05/25 10:25:33 INFO: [Worker 0] Loaded 1 episodes for house 3 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_02	[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 10:25:47 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/39afab89520c460598805c0a6bad291c	[json_eval_task_sampler.py: 648]
+05/25 10:25:47 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_1	[json_eval_task_sampler.py: 648]
+05/25 10:25:47 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/591a76b35b094562b9dec8ffa5b77387	[json_eval_task_sampler.py: 648]
+05/25 10:25:47 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/25 10:25:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3_ceiling.xml	[task_sampler.py: 797]
+05/25 10:25:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 10:25:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 10:25:49 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects	[json_eval_task_sampler.py: 686]
+05/25 10:25:49 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 10:25:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 10:25:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 10:25:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 10:25:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 10:25:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 10:25:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 10:25:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 10:25:49 INFO: [Worker 0] Sampled task 'Pick up the curved metallic hunting knife with handle and place it in or on the rustic gray bowl'	[task_sampler.py: 1136]
+05/25 10:25:49 INFO: [Worker 0] Worker 0 house 3 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 10:25:49 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 10:25:49 WARNING: [Worker 0] Could not find object objaroboticskull_8666b32fd1c14ee9849a90fc0749cba2_1_0_7 in scene	[object_manager.py: 1238]
+05/25 10:25:49 WARNING: [Worker 0] Could not find object objajawbonemodel_66ae7643b1bb4d299e47424b437b01da_1_0_7 in scene	[object_manager.py: 1238]
+05/25 10:25:54 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]
+05/25 10:34:50 INFO: [Worker 0] Worker 0 house 3 episode 0 object objahuntingknife_5788085874a74fc7b7c13ee762747910_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 10:34:55 INFO: [Worker 0] Batching and saving trajectory data for house_3: 1 episodes	[pipeline.py: 233]
+05/25 10:34:55 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 10:34:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 10:34:59 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3	[save_utils.py: 703]
+05/25 10:34:59 INFO: [Worker 0] Successfully saved trajectory data for house_3 in 3.84s (batch: 3.69s, save: 0.15s)	[pipeline.py: 280]
+05/25 10:35:00 WARNING: [Worker 0] No trajectory data to save for house_3	[pipeline.py: 229]
+05/25 10:35:00 INFO: [Worker 0] Worker 0 completed house 3: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 10:35:00 INFO: [Worker 0] Worker 0 starting house 109 (index 1/112)	[pipeline.py: 473]
+05/25 10:35:00 INFO: [Worker 0] Loaded 1 episodes for house 109 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_02	[json_eval_runner.py: 278]
+05/25 10:35:00 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]
+05/25 10:35:04 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/15607bdf52a64f81a7555de4cfad4029	[json_eval_task_sampler.py: 648]
+05/25 10:35:04 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/cbb67bbbe42e42189931574ce0d4926d	[json_eval_task_sampler.py: 648]
+05/25 10:35:04 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4351af051964283968b5fed441ee844	[json_eval_task_sampler.py: 648]
+05/25 10:35:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_109_ceiling.xml	[task_sampler.py: 797]
+05/25 10:35:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=109, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 10:35:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 10:35:12 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects	[json_eval_task_sampler.py: 686]
+05/25 10:35:12 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 10:35:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 10:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 10:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 10:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 10:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 10:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 10:35:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 10:35:32 INFO: [Worker 0] Sampled task 'Pick up the black handle sharp stainless knife and place it in or on the gray leaf dish'	[task_sampler.py: 1136]
+05/25 10:35:32 INFO: [Worker 0] Worker 0 house 109 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 10:35:33 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 10:42:41 INFO: [Worker 0] Worker 0 house 109 episode 0 object objachefsknife_091bbc88ed044b0d8c047cc8d494675b_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 10:42:45 INFO: [Worker 0] Batching and saving trajectory data for house_109: 1 episodes	[pipeline.py: 233]
+05/25 10:42:45 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 10:42:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 10:42:49 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_109	[save_utils.py: 703]
+05/25 10:42:49 INFO: [Worker 0] Successfully saved trajectory data for house_109 in 3.25s (batch: 3.12s, save: 0.13s)	[pipeline.py: 280]
+05/25 10:42:49 WARNING: [Worker 0] No trajectory data to save for house_109	[pipeline.py: 229]
+05/25 10:42:49 INFO: [Worker 0] Worker 0 completed house 109: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 10:42:49 INFO: [Worker 0] Worker 0 starting house 202 (index 2/112)	[pipeline.py: 473]
+05/25 10:42:49 INFO: [Worker 0] Loaded 1 episodes for house 202 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_02	[json_eval_runner.py: 278]
+05/25 10:42:49 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 10:42:51 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9ed70e7516894535a9e208904f8db364	[json_eval_task_sampler.py: 648]
+05/25 10:42:51 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/08dd440442874c8e8ae35494b4aff0a2	[json_eval_task_sampler.py: 648]
+05/25 10:42:51 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/836b48b21dcb4842a208c66f106abf18	[json_eval_task_sampler.py: 648]
+05/25 10:42:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_202_ceiling.xml	[task_sampler.py: 797]
+05/25 10:42:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=202, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 10:42:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 10:42:55 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects	[json_eval_task_sampler.py: 686]
+05/25 10:42:55 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 10:42:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 10:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 10:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 10:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 10:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 10:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 10:42:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 10:42:55 INFO: [Worker 0] Sampled task 'Pick up the brown leather desk calendar and place it in or on the patchwork ceramic bowl rustic'	[task_sampler.py: 1136]
+05/25 10:42:55 INFO: [Worker 0] Worker 0 house 202 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 10:42:56 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 10:46:20 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 10:54:10 INFO: [Worker 0] Worker 0 house 202 episode 0 object objadeskcalendar_836acbc9b70a457e8619491240f72bbb_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 10:54:15 INFO: [Worker 0] Batching and saving trajectory data for house_202: 1 episodes	[pipeline.py: 233]
+05/25 10:54:15 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 10:54:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 10:54:18 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_202	[save_utils.py: 703]
+05/25 10:54:18 INFO: [Worker 0] Successfully saved trajectory data for house_202 in 3.59s (batch: 3.39s, save: 0.20s)	[pipeline.py: 280]
+05/25 10:54:19 WARNING: [Worker 0] No trajectory data to save for house_202	[pipeline.py: 229]
+05/25 10:54:19 INFO: [Worker 0] Worker 0 completed house 202: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 10:54:19 INFO: [Worker 0] Worker 0 starting house 237 (index 3/112)	[pipeline.py: 473]
+05/25 10:54:19 INFO: [Worker 0] Loaded 2 episodes for house 237 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_02	[json_eval_runner.py: 278]
+05/25 10:54:19 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 10:54:25 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/56dccb62700a4c04b42646e060c087f5	[json_eval_task_sampler.py: 648]
+05/25 10:54:25 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/93ef7da87b1e43fbb47f3b26b927f777	[json_eval_task_sampler.py: 648]
+05/25 10:54:25 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/592fc966e1de425cb6ad1982dfe6dda1	[json_eval_task_sampler.py: 648]
+05/25 10:54:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_237_ceiling.xml	[task_sampler.py: 797]
+05/25 10:54:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=237, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 10:54:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 10:54:33 INFO: [Worker 0] randomize_scene: Setting poses for 103 objects	[json_eval_task_sampler.py: 686]
+05/25 10:54:33 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 10:54:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 10:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 10:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 10:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 10:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 10:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 10:54:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 10:54:33 INFO: [Worker 0] Sampled task 'Pick up the narrow green strip terrain and place it in or on the gray bowl'	[task_sampler.py: 1136]
+05/25 10:54:33 INFO: [Worker 0] Worker 0 house 237 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 10:54:34 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 10:57:24 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 11:05:35 INFO: [Worker 0] Worker 0 house 237 episode 0 object objadecorativeelement_223af6ac11154e938314733f5d0a4128_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 11:05:41 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]
+05/25 11:05:48 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/56dccb62700a4c04b42646e060c087f5	[json_eval_task_sampler.py: 648]
+05/25 11:05:48 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/93ef7da87b1e43fbb47f3b26b927f777	[json_eval_task_sampler.py: 648]
+05/25 11:05:48 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/592fc966e1de425cb6ad1982dfe6dda1	[json_eval_task_sampler.py: 648]
+05/25 11:05:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_237_ceiling.xml	[task_sampler.py: 797]
+05/25 11:05:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=237, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:05:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:05:58 INFO: [Worker 0] randomize_scene: Setting poses for 103 objects	[json_eval_task_sampler.py: 686]
+05/25 11:05:58 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:05:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:05:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:05:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:05:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:05:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:05:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:05:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:05:58 INFO: [Worker 0] Sampled task 'Pick up the teal rectangular bluetooth speaker and place it in or on the blue ceramic pot with face'	[task_sampler.py: 1136]
+05/25 11:05:58 INFO: [Worker 0] Worker 0 house 237 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 11:05:58 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:16:51 INFO: [Worker 0] Worker 0 house 237 episode 1 object objabluetoothspeaker_8280c95c7e1f413489cf7e52db89bf93_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 11:16:57 INFO: [Worker 0] Batching and saving trajectory data for house_237: 2 episodes	[pipeline.py: 233]
+05/25 11:16:57 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:17:00 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:17:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:17:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:17:04 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_237	[save_utils.py: 703]
+05/25 11:17:04 INFO: [Worker 0] Successfully saved trajectory data for house_237 in 7.71s (batch: 7.40s, save: 0.30s)	[pipeline.py: 280]
+05/25 11:17:05 WARNING: [Worker 0] No trajectory data to save for house_237	[pipeline.py: 229]
+05/25 11:17:05 INFO: [Worker 0] Worker 0 completed house 237: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 11:17:05 INFO: [Worker 0] Worker 0 starting house 259 (index 4/112)	[pipeline.py: 473]
+05/25 11:17:05 INFO: [Worker 0] Loaded 1 episodes for house 259 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_02	[json_eval_runner.py: 278]
+05/25 11:17:05 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 11:17:07 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e776cc1b82d54420a55e924510c027c5	[json_eval_task_sampler.py: 648]
+05/25 11:17:07 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/9605b2b278774b5bb4e486695e6d920a	[json_eval_task_sampler.py: 648]
+05/25 11:17:07 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_17	[json_eval_task_sampler.py: 648]
+05/25 11:17:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_259_ceiling.xml	[task_sampler.py: 797]
+05/25 11:17:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=259, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:17:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:17:10 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects	[json_eval_task_sampler.py: 686]
+05/25 11:17:10 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:17:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:17:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:17:10 INFO: [Worker 0] Sampled task 'Pick up the cylindrical dark fabric nhl pencilcase and place it in or on the bowl'	[task_sampler.py: 1136]
+05/25 11:17:10 INFO: [Worker 0] Worker 0 house 259 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:17:10 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:17:13 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 11:22:48 INFO: [Worker 0] Worker 0 house 259 episode 0 object objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 11:22:53 INFO: [Worker 0] Batching and saving trajectory data for house_259: 1 episodes	[pipeline.py: 233]
+05/25 11:22:53 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:22:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:22:57 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_259	[save_utils.py: 703]
+05/25 11:22:57 INFO: [Worker 0] Successfully saved trajectory data for house_259 in 4.05s (batch: 3.90s, save: 0.15s)	[pipeline.py: 280]
+05/25 11:22:57 WARNING: [Worker 0] No trajectory data to save for house_259	[pipeline.py: 229]
+05/25 11:22:57 INFO: [Worker 0] Worker 0 completed house 259: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:22:57 INFO: [Worker 0] Worker 0 starting house 297 (index 5/112)	[pipeline.py: 473]
+05/25 11:22:57 INFO: [Worker 0] Loaded 1 episodes for house 297 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_02	[json_eval_runner.py: 278]
+05/25 11:22:57 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 11:23:04 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/8c419f6d0cbc4580a2e2b9d273969b97	[json_eval_task_sampler.py: 648]
+05/25 11:23:04 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a5b29a29005041dca3d8bfbc8c57c7e2	[json_eval_task_sampler.py: 648]
+05/25 11:23:04 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/56dccb62700a4c04b42646e060c087f5	[json_eval_task_sampler.py: 648]
+05/25 11:23:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_297_ceiling.xml	[task_sampler.py: 797]
+05/25 11:23:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=297, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:23:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:23:10 INFO: [Worker 0] randomize_scene: Setting poses for 94 objects	[json_eval_task_sampler.py: 686]
+05/25 11:23:10 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:23:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:23:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:23:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:23:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:23:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:23:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:23:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:23:10 INFO: [Worker 0] Sampled task 'Pick up the blue bifold wallet with slots and place it in or on the round stone bowl with uneven rim'	[task_sampler.py: 1136]
+05/25 11:23:10 INFO: [Worker 0] Worker 0 house 297 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:23:10 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:23:11 WARNING: [Worker 0] Could not find object objanotebook_e573304fce364cf299027494fc1afede_1_0_6 in scene	[object_manager.py: 1238]
+05/25 11:33:06 INFO: [Worker 0] Worker 0 house 297 episode 0 object objawallet_284753c433144278b333b617615d6b3a_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 11:33:12 INFO: [Worker 0] Batching and saving trajectory data for house_297: 1 episodes	[pipeline.py: 233]
+05/25 11:33:12 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:33:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:33:16 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_297	[save_utils.py: 703]
+05/25 11:33:16 INFO: [Worker 0] Successfully saved trajectory data for house_297 in 4.59s (batch: 4.39s, save: 0.21s)	[pipeline.py: 280]
+05/25 11:33:17 WARNING: [Worker 0] No trajectory data to save for house_297	[pipeline.py: 229]
+05/25 11:33:17 INFO: [Worker 0] Worker 0 completed house 297: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:33:17 INFO: [Worker 0] Worker 0 starting house 350 (index 6/112)	[pipeline.py: 473]
+05/25 11:33:17 INFO: [Worker 0] Loaded 1 episodes for house 350 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_02	[json_eval_runner.py: 278]
+05/25 11:33:17 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 11:33:20 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/cfe3c9eed1554f59ad7756e27d97c667	[json_eval_task_sampler.py: 648]
+05/25 11:33:20 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/af838119a5a14e6ea3cc7e6cb53e2bd8	[json_eval_task_sampler.py: 648]
+05/25 11:33:20 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b88a0160da29481fb7866fda93457fe3	[json_eval_task_sampler.py: 648]
+05/25 11:33:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_350_ceiling.xml	[task_sampler.py: 797]
+05/25 11:33:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=350, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:33:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:33:24 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects	[json_eval_task_sampler.py: 686]
+05/25 11:33:24 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:33:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:33:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:33:24 INFO: [Worker 0] Sampled task 'Pick up the slender polished stone blade and place it in or on the creamy beige ceramic bowl'	[task_sampler.py: 1136]
+05/25 11:33:24 INFO: [Worker 0] Worker 0 house 350 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:33:25 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:33:25 WARNING: [Worker 0] Could not find object objacarvedpanel_5a5173b4756d46059e7ea9b70aabb4ca_1_0_4 in scene	[object_manager.py: 1238]
+05/25 11:42:00 INFO: [Worker 0] Worker 0 house 350 episode 0 object objastoneblade_5f47b28737234dfab45608705baaf56f_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 11:42:05 INFO: [Worker 0] Batching and saving trajectory data for house_350: 1 episodes	[pipeline.py: 233]
+05/25 11:42:05 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:42:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:42:09 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_350	[save_utils.py: 703]
+05/25 11:42:09 INFO: [Worker 0] Successfully saved trajectory data for house_350 in 4.10s (batch: 3.95s, save: 0.14s)	[pipeline.py: 280]
+05/25 11:42:11 WARNING: [Worker 0] No trajectory data to save for house_350	[pipeline.py: 229]
+05/25 11:42:11 INFO: [Worker 0] Worker 0 completed house 350: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:42:11 INFO: [Worker 0] Worker 0 starting house 401 (index 7/112)	[pipeline.py: 473]
+05/25 11:42:11 INFO: [Worker 0] Loaded 1 episodes for house 401 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_02	[json_eval_runner.py: 278]
+05/25 11:42:11 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 11:42:13 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d792e36c80784b53b987c84e304481a9	[json_eval_task_sampler.py: 648]
+05/25 11:42:13 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ac2b50d2542c4f458b4ea404b8ed5e4b	[json_eval_task_sampler.py: 648]
+05/25 11:42:13 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7bcc0425058142c59255979a2b61f0d2	[json_eval_task_sampler.py: 648]
+05/25 11:42:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_401_ceiling.xml	[task_sampler.py: 797]
+05/25 11:42:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=401, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:42:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:42:19 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects	[json_eval_task_sampler.py: 686]
+05/25 11:42:19 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:42:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:42:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:42:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:42:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:42:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:42:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:42:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:42:19 INFO: [Worker 0] Sampled task 'Pick up the yellow spirit level and place it in or on the rectangular shallow glossy ceramic dish'	[task_sampler.py: 1136]
+05/25 11:42:19 INFO: [Worker 0] Worker 0 house 401 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:42:19 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:42:19 WARNING: [Worker 0] Could not find object tomato_d8374542ffb24dad411e5cff170ec0f6_1_0_2 in scene	[object_manager.py: 1238]
+05/25 11:42:19 WARNING: [Worker 0] Could not find object objapottery_fe82c7e6699f4dc18ea37450ca61a1bc_1_0_8 in scene	[object_manager.py: 1238]
+05/25 11:42:19 WARNING: [Worker 0] Could not find object alarmclock_66df1e2d100c61e6503733f13fd5b228_2_0_8 in scene	[object_manager.py: 1238]
+05/25 11:49:25 INFO: [Worker 0] Worker 0 house 401 episode 0 object objaspiritlevel_1408c030d3bf40cf8877a919adb2d464_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 11:49:30 INFO: [Worker 0] Batching and saving trajectory data for house_401: 1 episodes	[pipeline.py: 233]
+05/25 11:49:30 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:49:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:49:33 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_401	[save_utils.py: 703]
+05/25 11:49:33 INFO: [Worker 0] Successfully saved trajectory data for house_401 in 3.34s (batch: 3.16s, save: 0.18s)	[pipeline.py: 280]
+05/25 11:49:34 WARNING: [Worker 0] No trajectory data to save for house_401	[pipeline.py: 229]
+05/25 11:49:34 INFO: [Worker 0] Worker 0 completed house 401: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:49:34 INFO: [Worker 0] Worker 0 starting house 473 (index 8/112)	[pipeline.py: 473]
+05/25 11:49:34 INFO: [Worker 0] Loaded 1 episodes for house 473 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_02	[json_eval_runner.py: 278]
+05/25 11:49:34 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 11:49:35 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1e4b75a1bb484c42b99fcd3ddf23ae9f	[json_eval_task_sampler.py: 648]
+05/25 11:49:35 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/7bcc0425058142c59255979a2b61f0d2	[json_eval_task_sampler.py: 648]
+05/25 11:49:35 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0cb14e8a04de4c39ac8714a98fba9883	[json_eval_task_sampler.py: 648]
+05/25 11:49:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_473_ceiling.xml	[task_sampler.py: 797]
+05/25 11:49:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=473, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:49:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:49:37 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects	[json_eval_task_sampler.py: 686]
+05/25 11:49:37 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:49:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:49:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:49:37 INFO: [Worker 0] Sampled task 'Pick up the large rusted metal j-hook and place it in or on the beer mug'	[task_sampler.py: 1136]
+05/25 11:49:37 INFO: [Worker 0] Worker 0 house 473 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:49:37 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:53:39 INFO: [Worker 0] Worker 0 house 473 episode 0 object objahook_cce723b16e1241dea1d92efab2db8724_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 11:53:43 INFO: [Worker 0] Batching and saving trajectory data for house_473: 1 episodes	[pipeline.py: 233]
+05/25 11:53:43 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 11:53:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:53:46 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_473	[save_utils.py: 703]
+05/25 11:53:46 INFO: [Worker 0] Successfully saved trajectory data for house_473 in 2.90s (batch: 2.74s, save: 0.15s)	[pipeline.py: 280]
+05/25 11:53:47 WARNING: [Worker 0] No trajectory data to save for house_473	[pipeline.py: 229]
+05/25 11:53:47 INFO: [Worker 0] Worker 0 completed house 473: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 11:53:47 INFO: [Worker 0] Worker 0 starting house 507 (index 9/112)	[pipeline.py: 473]
+05/25 11:53:47 INFO: [Worker 0] Loaded 1 episodes for house 507 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_02	[json_eval_runner.py: 278]
+05/25 11:53:47 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 11:53:52 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/472cceee5a224ff6933e7baf31d16641	[json_eval_task_sampler.py: 648]
+05/25 11:53:52 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5fa7101ca3744068ae84b30dbf0a9240	[json_eval_task_sampler.py: 648]
+05/25 11:53:52 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_18	[json_eval_task_sampler.py: 648]
+05/25 11:53:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_507_ceiling.xml	[task_sampler.py: 797]
+05/25 11:53:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=507, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:53:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:53:59 INFO: [Worker 0] randomize_scene: Setting poses for 121 objects	[json_eval_task_sampler.py: 686]
+05/25 11:53:59 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:54:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:54:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:54:00 INFO: [Worker 0] Sampled task 'Pick up the black circular webcam with lens and place it in or on the bowl'	[task_sampler.py: 1136]
+05/25 11:54:00 INFO: [Worker 0] Worker 0 house 507 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:54:00 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 11:54:00 WARNING: [Worker 0] Could not find object objaminiaturemicrophone_3df49e881a894f57a431918d7c6d7980_1_0_2 in scene	[object_manager.py: 1238]
+05/25 11:56:00 INFO: [Worker 0] Worker 0 house 507 episode 0 object objawebcam_89d6eaf640c64d9aa6549e0b3fa54415_1_0_6 completed with success=True	[pipeline.py: 1114]
+05/25 11:56:04 INFO: [Worker 0] Batching and saving trajectory data for house_507: 1 episodes	[pipeline.py: 233]
+05/25 11:56:04 INFO: [Worker 0] Preparing episode data: 148 timesteps	[save_utils.py: 284]
+05/25 11:56:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 11:56:07 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_507	[save_utils.py: 703]
+05/25 11:56:07 INFO: [Worker 0] Successfully saved trajectory data for house_507 in 2.67s (batch: 2.60s, save: 0.07s)	[pipeline.py: 280]
+05/25 11:56:07 WARNING: [Worker 0] No trajectory data to save for house_507	[pipeline.py: 229]
+05/25 11:56:07 INFO: [Worker 0] Worker 0 completed house 507: 1/1 successful episodes	[pipeline.py: 1243]
+05/25 11:56:07 INFO: [Worker 0] Worker 0 starting house 536 (index 10/112)	[pipeline.py: 473]
+05/25 11:56:07 INFO: [Worker 0] Loaded 1 episodes for house 536 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_02	[json_eval_runner.py: 278]
+05/25 11:56:07 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 11:56:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_17	[json_eval_task_sampler.py: 648]
+05/25 11:56:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1bac786df9e446a795e442a83f49056a	[json_eval_task_sampler.py: 648]
+05/25 11:56:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c7df0f7671d34fb9817d37067072f9ab	[json_eval_task_sampler.py: 648]
+05/25 11:56:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_536_ceiling.xml	[task_sampler.py: 797]
+05/25 11:56:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=536, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 11:56:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 11:56:12 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects	[json_eval_task_sampler.py: 686]
+05/25 11:56:12 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 11:56:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 11:56:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 11:56:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 11:56:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 11:56:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 11:56:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 11:56:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 11:56:12 INFO: [Worker 0] Sampled task 'Pick up the beige vintage soap bar and place it in or on the shallow round bowl with feet'	[task_sampler.py: 1136]
+05/25 11:56:12 INFO: [Worker 0] Worker 0 house 536 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 11:56:12 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:06:05 INFO: [Worker 0] Worker 0 house 536 episode 0 object objasoap_cb32af301d8543b48fa12821915e57ce_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 12:06:09 INFO: [Worker 0] Batching and saving trajectory data for house_536: 1 episodes	[pipeline.py: 233]
+05/25 12:06:09 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:06:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:06:12 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_536	[save_utils.py: 703]
+05/25 12:06:12 INFO: [Worker 0] Successfully saved trajectory data for house_536 in 2.87s (batch: 2.76s, save: 0.11s)	[pipeline.py: 280]
+05/25 12:06:13 WARNING: [Worker 0] No trajectory data to save for house_536	[pipeline.py: 229]
+05/25 12:06:13 INFO: [Worker 0] Worker 0 completed house 536: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:06:13 INFO: [Worker 0] Worker 0 starting house 1014 (index 11/112)	[pipeline.py: 473]
+05/25 12:06:13 INFO: [Worker 0] Loaded 2 episodes for house 1014 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_02	[json_eval_runner.py: 278]
+05/25 12:06:13 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 12:06:13 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/80f09dd8b3d34005b3625823091978af	[json_eval_task_sampler.py: 648]
+05/25 12:06:13 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_7	[json_eval_task_sampler.py: 648]
+05/25 12:06:13 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e9670b35612840bd92354dd8936d3c6a	[json_eval_task_sampler.py: 648]
+05/25 12:06:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1014_ceiling.xml	[task_sampler.py: 797]
+05/25 12:06:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1014, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:06:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:06:15 INFO: [Worker 0] randomize_scene: Setting poses for 24 objects	[json_eval_task_sampler.py: 686]
+05/25 12:06:15 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:06:15 INFO: [Worker 0] Sampled task 'Pick up the yellow toy figure with red legs and place it in or on the tan decorative bowl'	[task_sampler.py: 1136]
+05/25 12:06:15 INFO: [Worker 0] Worker 0 house 1014 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 12:06:16 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:06:18 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 12:12:54 INFO: [Worker 0] Worker 0 house 1014 episode 0 object objatoyfigure_a990deadb759463c9da96f134673ef39_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 12:12:58 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 12:12:59 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/80f09dd8b3d34005b3625823091978af	[json_eval_task_sampler.py: 648]
+05/25 12:12:59 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_7	[json_eval_task_sampler.py: 648]
+05/25 12:12:59 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e9670b35612840bd92354dd8936d3c6a	[json_eval_task_sampler.py: 648]
+05/25 12:13:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1014_ceiling.xml	[task_sampler.py: 797]
+05/25 12:13:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1014, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:13:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:13:01 INFO: [Worker 0] randomize_scene: Setting poses for 24 objects	[json_eval_task_sampler.py: 686]
+05/25 12:13:01 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:13:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:13:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:13:01 INFO: [Worker 0] Sampled task 'Pick up the decorativepinwheel and place it in or on the metal gray pot with stripe'	[task_sampler.py: 1136]
+05/25 12:13:01 INFO: [Worker 0] Worker 0 house 1014 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 12:13:01 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:15:08 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 12:19:57 INFO: [Worker 0] Worker 0 house 1014 episode 1 object objadecorativepinwheel_e2910250f1e8452ab8843ce1aee16085_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 12:20:02 INFO: [Worker 0] Batching and saving trajectory data for house_1014: 2 episodes	[pipeline.py: 233]
+05/25 12:20:02 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:20:05 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:20:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:20:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:20:08 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1014	[save_utils.py: 703]
+05/25 12:20:08 INFO: [Worker 0] Successfully saved trajectory data for house_1014 in 6.32s (batch: 6.03s, save: 0.29s)	[pipeline.py: 280]
+05/25 12:20:09 WARNING: [Worker 0] No trajectory data to save for house_1014	[pipeline.py: 229]
+05/25 12:20:09 INFO: [Worker 0] Worker 0 completed house 1014: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 12:20:09 INFO: [Worker 0] Worker 0 starting house 1039 (index 12/112)	[pipeline.py: 473]
+05/25 12:20:09 INFO: [Worker 0] Loaded 1 episodes for house 1039 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_02	[json_eval_runner.py: 278]
+05/25 12:20:09 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 12:20:11 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/50be4f8b8f744730878916aa38b0f08f	[json_eval_task_sampler.py: 648]
+05/25 12:20:11 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/8c419f6d0cbc4580a2e2b9d273969b97	[json_eval_task_sampler.py: 648]
+05/25 12:20:11 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/48272cae86364aa0995e70658330c0a9	[json_eval_task_sampler.py: 648]
+05/25 12:20:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1039_ceiling.xml	[task_sampler.py: 797]
+05/25 12:20:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1039, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:20:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:20:17 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects	[json_eval_task_sampler.py: 686]
+05/25 12:20:17 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:20:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:20:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:20:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:20:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:20:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:20:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:20:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:20:17 INFO: [Worker 0] Sampled task 'Pick up the vibrant orange diamond-shaped glowing gem and place it in or on the round wooden bowl with grain'	[task_sampler.py: 1136]
+05/25 12:20:17 INFO: [Worker 0] Worker 0 house 1039 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:20:17 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:20:18 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 12:25:57 INFO: [Worker 0] Worker 0 house 1039 episode 0 object objagem_51446bf7bc5a486abb1475f15eac6f64_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 12:26:03 INFO: [Worker 0] Batching and saving trajectory data for house_1039: 1 episodes	[pipeline.py: 233]
+05/25 12:26:03 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:26:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:26:07 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1039	[save_utils.py: 703]
+05/25 12:26:07 INFO: [Worker 0] Successfully saved trajectory data for house_1039 in 3.88s (batch: 3.72s, save: 0.17s)	[pipeline.py: 280]
+05/25 12:26:08 WARNING: [Worker 0] No trajectory data to save for house_1039	[pipeline.py: 229]
+05/25 12:26:08 INFO: [Worker 0] Worker 0 completed house 1039: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:26:08 INFO: [Worker 0] Worker 0 starting house 1082 (index 13/112)	[pipeline.py: 473]
+05/25 12:26:08 INFO: [Worker 0] Loaded 1 episodes for house 1082 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_02	[json_eval_runner.py: 278]
+05/25 12:26:08 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 12:26:11 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/45bb173c0384450487421b687bf3bf5b	[json_eval_task_sampler.py: 648]
+05/25 12:26:11 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/9ed70e7516894535a9e208904f8db364	[json_eval_task_sampler.py: 648]
+05/25 12:26:11 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b63ca5b519ba4920a6288da00d9224bd	[json_eval_task_sampler.py: 648]
+05/25 12:26:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1082_ceiling.xml	[task_sampler.py: 797]
+05/25 12:26:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1082, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:26:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:26:15 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects	[json_eval_task_sampler.py: 686]
+05/25 12:26:15 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:26:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:26:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:26:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:26:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:26:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:26:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:26:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:26:15 INFO: [Worker 0] Sampled task 'Pick up the black cylindrical scope and place it in or on the rustic shallow bowl'	[task_sampler.py: 1136]
+05/25 12:26:15 INFO: [Worker 0] Worker 0 house 1082 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:26:15 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:26:16 WARNING: [Worker 0] Could not find object objametalartifact_ce43098d06304a5c854f996ce96bd02e_1_0_5 in scene	[object_manager.py: 1238]
+05/25 12:26:16 WARNING: [Worker 0] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene	[object_manager.py: 1238]
+05/25 12:26:18 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 12:36:50 INFO: [Worker 0] Worker 0 house 1082 episode 0 object objascope_74a317bd8f2c458a9ab89c9a188900e4_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 12:36:54 INFO: [Worker 0] Batching and saving trajectory data for house_1082: 1 episodes	[pipeline.py: 233]
+05/25 12:36:54 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:36:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:36:57 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1082	[save_utils.py: 703]
+05/25 12:36:57 INFO: [Worker 0] Successfully saved trajectory data for house_1082 in 3.28s (batch: 3.17s, save: 0.12s)	[pipeline.py: 280]
+05/25 12:36:58 WARNING: [Worker 0] No trajectory data to save for house_1082	[pipeline.py: 229]
+05/25 12:36:58 INFO: [Worker 0] Worker 0 completed house 1082: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:36:58 INFO: [Worker 0] Worker 0 starting house 1124 (index 14/112)	[pipeline.py: 473]
+05/25 12:36:58 INFO: [Worker 0] Loaded 1 episodes for house 1124 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_02	[json_eval_runner.py: 278]
+05/25 12:36:58 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 12:37:02 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a5b29a29005041dca3d8bfbc8c57c7e2	[json_eval_task_sampler.py: 648]
+05/25 12:37:02 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/48272cae86364aa0995e70658330c0a9	[json_eval_task_sampler.py: 648]
+05/25 12:37:02 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/af624cab76c04bec86f0c928207797d8	[json_eval_task_sampler.py: 648]
+05/25 12:37:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1124_ceiling.xml	[task_sampler.py: 797]
+05/25 12:37:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1124, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:37:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:37:08 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects	[json_eval_task_sampler.py: 686]
+05/25 12:37:08 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:37:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:37:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:37:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:37:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:37:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:37:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:37:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:37:08 INFO: [Worker 0] Sampled task 'Pick up the rusty vintage volkswagen beetle model and place it in or on the square ashtray with four grooves'	[task_sampler.py: 1136]
+05/25 12:37:08 INFO: [Worker 0] Worker 0 house 1124 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:37:08 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:37:08 WARNING: [Worker 0] Could not find object objasawblade_85b1006fdee5428492d0382c7d3a3874_1_0_4 in scene	[object_manager.py: 1238]
+05/25 12:37:08 WARNING: [Worker 0] Could not find object plate_3c4427455eeccda33c6e6db585f41627_1_0_4 in scene	[object_manager.py: 1238]
+05/25 12:45:08 INFO: [Worker 0] Worker 0 house 1124 episode 0 object objamodelcar_a15471543f9f4cc493b91ee4919f0867_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 12:45:12 INFO: [Worker 0] Batching and saving trajectory data for house_1124: 1 episodes	[pipeline.py: 233]
+05/25 12:45:12 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:45:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:45:16 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1124	[save_utils.py: 703]
+05/25 12:45:16 INFO: [Worker 0] Successfully saved trajectory data for house_1124 in 3.36s (batch: 3.20s, save: 0.16s)	[pipeline.py: 280]
+05/25 12:45:16 WARNING: [Worker 0] No trajectory data to save for house_1124	[pipeline.py: 229]
+05/25 12:45:16 INFO: [Worker 0] Worker 0 completed house 1124: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:45:16 INFO: [Worker 0] Worker 0 starting house 1184 (index 15/112)	[pipeline.py: 473]
+05/25 12:45:16 INFO: [Worker 0] Loaded 1 episodes for house 1184 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_02	[json_eval_runner.py: 278]
+05/25 12:45:16 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 12:45:17 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_21	[json_eval_task_sampler.py: 648]
+05/25 12:45:17 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2b2f2afe691143b1a0d9c56141b028f9	[json_eval_task_sampler.py: 648]
+05/25 12:45:17 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b8cba8b5a69543ce9875c40028261490	[json_eval_task_sampler.py: 648]
+05/25 12:45:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1184_ceiling.xml	[task_sampler.py: 797]
+05/25 12:45:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1184, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:45:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:45:19 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects	[json_eval_task_sampler.py: 686]
+05/25 12:45:19 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:45:19 INFO: [Worker 0] Sampled task 'Pick up the yellow knife and place it in or on the simple light brown ceramic bowl'	[task_sampler.py: 1136]
+05/25 12:45:19 INFO: [Worker 0] Worker 0 house 1184 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:45:19 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:45:20 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 12:49:02 INFO: [Worker 0] Worker 0 house 1184 episode 0 object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 12:49:06 INFO: [Worker 0] Batching and saving trajectory data for house_1184: 1 episodes	[pipeline.py: 233]
+05/25 12:49:06 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:49:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:49:10 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1184	[save_utils.py: 703]
+05/25 12:49:10 INFO: [Worker 0] Successfully saved trajectory data for house_1184 in 3.42s (batch: 3.27s, save: 0.15s)	[pipeline.py: 280]
+05/25 12:49:10 WARNING: [Worker 0] No trajectory data to save for house_1184	[pipeline.py: 229]
+05/25 12:49:10 INFO: [Worker 0] Worker 0 completed house 1184: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:49:10 INFO: [Worker 0] Worker 0 starting house 1229 (index 16/112)	[pipeline.py: 473]
+05/25 12:49:10 INFO: [Worker 0] Loaded 1 episodes for house 1229 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_02	[json_eval_runner.py: 278]
+05/25 12:49:10 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 12:49:13 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bdd36c94f3f74f22b02b8a069c8d97b7	[json_eval_task_sampler.py: 648]
+05/25 12:49:13 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/44f5be7685c1439c85cf9bc36e78578a	[json_eval_task_sampler.py: 648]
+05/25 12:49:13 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9ed70e7516894535a9e208904f8db364	[json_eval_task_sampler.py: 648]
+05/25 12:49:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1229_ceiling.xml	[task_sampler.py: 797]
+05/25 12:49:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1229, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:49:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:49:18 INFO: [Worker 0] randomize_scene: Setting poses for 69 objects	[json_eval_task_sampler.py: 686]
+05/25 12:49:18 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:49:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:49:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:49:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:49:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:49:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:49:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:49:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:49:18 INFO: [Worker 0] Sampled task 'Pick up the white plastic drain cover with tabs and place it in or on the rustic clay bowl'	[task_sampler.py: 1136]
+05/25 12:49:18 INFO: [Worker 0] Worker 0 house 1229 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 12:49:18 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:49:18 WARNING: [Worker 0] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_7 in scene	[object_manager.py: 1238]
+05/25 12:56:48 INFO: [Worker 0] Worker 0 house 1229 episode 0 object objadraincover_568b96b1661844cb816633d29f722ccb_3_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 12:56:52 INFO: [Worker 0] Batching and saving trajectory data for house_1229: 1 episodes	[pipeline.py: 233]
+05/25 12:56:52 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 12:56:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 12:56:54 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1229	[save_utils.py: 703]
+05/25 12:56:54 INFO: [Worker 0] Successfully saved trajectory data for house_1229 in 2.81s (batch: 2.70s, save: 0.11s)	[pipeline.py: 280]
+05/25 12:56:55 WARNING: [Worker 0] No trajectory data to save for house_1229	[pipeline.py: 229]
+05/25 12:56:55 INFO: [Worker 0] Worker 0 completed house 1229: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 12:56:55 INFO: [Worker 0] Worker 0 starting house 1237 (index 17/112)	[pipeline.py: 473]
+05/25 12:56:55 INFO: [Worker 0] Loaded 2 episodes for house 1237 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_02	[json_eval_runner.py: 278]
+05/25 12:56:55 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 12:56:56 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/56dccb62700a4c04b42646e060c087f5	[json_eval_task_sampler.py: 648]
+05/25 12:56:56 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e11475635c464216a2213d65c45a319a	[json_eval_task_sampler.py: 648]
+05/25 12:56:56 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b60e63f150034acbabd32dc9ef8563de	[json_eval_task_sampler.py: 648]
+05/25 12:56:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1237_ceiling.xml	[task_sampler.py: 797]
+05/25 12:56:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1237, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 12:56:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 12:56:58 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects	[json_eval_task_sampler.py: 686]
+05/25 12:56:58 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 12:56:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 12:56:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 12:56:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 12:56:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 12:56:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 12:56:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 12:56:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 12:56:58 INFO: [Worker 0] Sampled task 'Pick up the clothesiron and place it in or on the handmade rustic gray bowl'	[task_sampler.py: 1136]
+05/25 12:56:58 INFO: [Worker 0] Worker 0 house 1237 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 12:56:58 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 12:57:00 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 13:02:27 INFO: [Worker 0] Worker 0 house 1237 episode 0 object objaclothesiron_85d03c142cf04e258f254e7112850ba7_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 13:02:31 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 13:02:31 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/56dccb62700a4c04b42646e060c087f5	[json_eval_task_sampler.py: 648]
+05/25 13:02:31 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e11475635c464216a2213d65c45a319a	[json_eval_task_sampler.py: 648]
+05/25 13:02:31 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b60e63f150034acbabd32dc9ef8563de	[json_eval_task_sampler.py: 648]
+05/25 13:02:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1237_ceiling.xml	[task_sampler.py: 797]
+05/25 13:02:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1237, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:02:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:02:33 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects	[json_eval_task_sampler.py: 686]
+05/25 13:02:34 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:02:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:02:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:02:34 INFO: [Worker 0] Sampled task 'Pick up the clothes iron and place it in or on the rustic clay bowl with two handles'	[task_sampler.py: 1136]
+05/25 13:02:34 INFO: [Worker 0] Worker 0 house 1237 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 13:02:34 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:06:33 INFO: [Worker 0] Worker 0 house 1237 episode 1 object objaclothesiron_586af9dfd18d4244a46f5e5e0a474be6_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 13:06:38 INFO: [Worker 0] Batching and saving trajectory data for house_1237: 2 episodes	[pipeline.py: 233]
+05/25 13:06:38 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:06:42 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:06:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:06:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:06:46 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1237	[save_utils.py: 703]
+05/25 13:06:46 INFO: [Worker 0] Successfully saved trajectory data for house_1237 in 7.92s (batch: 7.42s, save: 0.50s)	[pipeline.py: 280]
+05/25 13:06:46 WARNING: [Worker 0] No trajectory data to save for house_1237	[pipeline.py: 229]
+05/25 13:06:46 INFO: [Worker 0] Worker 0 completed house 1237: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 13:06:46 INFO: [Worker 0] Worker 0 starting house 1313 (index 18/112)	[pipeline.py: 473]
+05/25 13:06:46 INFO: [Worker 0] Loaded 1 episodes for house 1313 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_02	[json_eval_runner.py: 278]
+05/25 13:06:46 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 13:06:48 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/c44ac768e7304df58ebf13ba4c6eed11	[json_eval_task_sampler.py: 648]
+05/25 13:06:48 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/8c419f6d0cbc4580a2e2b9d273969b97	[json_eval_task_sampler.py: 648]
+05/25 13:06:48 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ce448005340241c8acd2034b72cd09f8	[json_eval_task_sampler.py: 648]
+05/25 13:06:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1313_ceiling.xml	[task_sampler.py: 797]
+05/25 13:06:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1313, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:06:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:06:52 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects	[json_eval_task_sampler.py: 686]
+05/25 13:06:52 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:06:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:06:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:06:52 INFO: [Worker 0] Sampled task 'Pick up the smooth off-white bone toy and place it in or on the shallow round wooden bowl with grain'	[task_sampler.py: 1136]
+05/25 13:06:52 INFO: [Worker 0] Worker 0 house 1313 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:06:52 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:06:54 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]
+05/25 13:13:17 INFO: [Worker 0] Worker 0 house 1313 episode 0 object objadogtoy_619ebcad52474517b55ead09935e4a57_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 13:13:23 INFO: [Worker 0] Batching and saving trajectory data for house_1313: 1 episodes	[pipeline.py: 233]
+05/25 13:13:24 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:13:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:13:30 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1313	[save_utils.py: 703]
+05/25 13:13:30 INFO: [Worker 0] Successfully saved trajectory data for house_1313 in 5.87s (batch: 5.63s, save: 0.25s)	[pipeline.py: 280]
+05/25 13:13:31 WARNING: [Worker 0] No trajectory data to save for house_1313	[pipeline.py: 229]
+05/25 13:13:31 INFO: [Worker 0] Worker 0 completed house 1313: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:13:31 INFO: [Worker 0] Worker 0 starting house 1382 (index 19/112)	[pipeline.py: 473]
+05/25 13:13:31 INFO: [Worker 0] Loaded 1 episodes for house 1382 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_02	[json_eval_runner.py: 278]
+05/25 13:13:31 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 13:13:36 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/836b48b21dcb4842a208c66f106abf18	[json_eval_task_sampler.py: 648]
+05/25 13:13:36 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fdfd829fe39049a69f6df2289b29dc7f	[json_eval_task_sampler.py: 648]
+05/25 13:13:36 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0	[json_eval_task_sampler.py: 648]
+05/25 13:13:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1382_ceiling.xml	[task_sampler.py: 797]
+05/25 13:13:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1382, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:13:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:13:43 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects	[json_eval_task_sampler.py: 686]
+05/25 13:13:43 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:13:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:13:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:13:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:13:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:13:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:13:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:13:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:13:43 INFO: [Worker 0] Sampled task 'Pick up the small glossy turquoise eye of horus amulet and place it in or on the rectangular vintage metal storage tin'	[task_sampler.py: 1136]
+05/25 13:13:43 INFO: [Worker 0] Worker 0 house 1382 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:13:43 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:13:44 WARNING: [Worker 0] Could not find object objacoil_c4fcd63753e740aa9efac5edfe7a7506_1_0_5 in scene	[object_manager.py: 1238]
+05/25 13:13:44 WARNING: [Worker 0] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_5 in scene	[object_manager.py: 1238]
+05/25 13:13:46 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]
+05/25 13:23:04 INFO: [Worker 0] Worker 0 house 1382 episode 0 object objaamulet_7300d219ed944585ace4b2509bef4f6e_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 13:23:10 INFO: [Worker 0] Batching and saving trajectory data for house_1382: 1 episodes	[pipeline.py: 233]
+05/25 13:23:10 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:23:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:23:15 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1382	[save_utils.py: 703]
+05/25 13:23:15 INFO: [Worker 0] Successfully saved trajectory data for house_1382 in 5.04s (batch: 4.73s, save: 0.31s)	[pipeline.py: 280]
+05/25 13:23:16 WARNING: [Worker 0] No trajectory data to save for house_1382	[pipeline.py: 229]
+05/25 13:23:16 INFO: [Worker 0] Worker 0 completed house 1382: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:23:16 INFO: [Worker 0] Worker 0 starting house 1458 (index 20/112)	[pipeline.py: 473]
+05/25 13:23:16 INFO: [Worker 0] Loaded 1 episodes for house 1458 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_02	[json_eval_runner.py: 278]
+05/25 13:23:16 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 13:23:19 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0b0079b036c845139d5823255a34da7a	[json_eval_task_sampler.py: 648]
+05/25 13:23:19 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1ef337c5cfda4d368ceb154c0e9fae0e	[json_eval_task_sampler.py: 648]
+05/25 13:23:19 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/423c9b6a27254a00aa283647a7e9b1ba	[json_eval_task_sampler.py: 648]
+05/25 13:23:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1458_ceiling.xml	[task_sampler.py: 797]
+05/25 13:23:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1458, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:23:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:23:27 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects	[json_eval_task_sampler.py: 686]
+05/25 13:23:27 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:23:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:23:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:23:27 INFO: [Worker 0] Sampled task 'Pick up the clock and place it in or on the blue and white ceramic bowl'	[task_sampler.py: 1136]
+05/25 13:23:27 INFO: [Worker 0] Worker 0 house 1458 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:23:28 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:23:28 WARNING: [Worker 0] Could not find object objatoytower_9c57f4e2d52845058a6a93f44cc999d9_1_0_6 in scene	[object_manager.py: 1238]
+05/25 13:23:28 WARNING: [Worker 0] Could not find object objadecorativebirdmodel_11dc675b88ba4c3ab07f0f9aca3d6318_1_0_6 in scene	[object_manager.py: 1238]
+05/25 13:30:27 INFO: [Worker 0] Worker 0 house 1458 episode 0 object alarmclock_85647c60207a07a17bbd65025ae5d72c_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 13:30:33 INFO: [Worker 0] Batching and saving trajectory data for house_1458: 1 episodes	[pipeline.py: 233]
+05/25 13:30:33 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:30:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:30:36 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1458	[save_utils.py: 703]
+05/25 13:30:36 INFO: [Worker 0] Successfully saved trajectory data for house_1458 in 3.56s (batch: 3.40s, save: 0.16s)	[pipeline.py: 280]
+05/25 13:30:37 WARNING: [Worker 0] No trajectory data to save for house_1458	[pipeline.py: 229]
+05/25 13:30:37 INFO: [Worker 0] Worker 0 completed house 1458: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:30:37 INFO: [Worker 0] Worker 0 starting house 1530 (index 21/112)	[pipeline.py: 473]
+05/25 13:30:37 INFO: [Worker 0] Loaded 1 episodes for house 1530 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_02	[json_eval_runner.py: 278]
+05/25 13:30:37 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 13:30:42 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_5	[json_eval_task_sampler.py: 648]
+05/25 13:30:42 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e776cc1b82d54420a55e924510c027c5	[json_eval_task_sampler.py: 648]
+05/25 13:30:42 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ede795f1c6f74a99b6952183f340fcb8	[json_eval_task_sampler.py: 648]
+05/25 13:30:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1530_ceiling.xml	[task_sampler.py: 797]
+05/25 13:30:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1530, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:30:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:30:51 INFO: [Worker 0] randomize_scene: Setting poses for 97 objects	[json_eval_task_sampler.py: 686]
+05/25 13:30:51 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:30:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:30:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:30:51 INFO: [Worker 0] Sampled task 'Pick up the green armored character card with text and place it in or on the glossy gray bowl'	[task_sampler.py: 1136]
+05/25 13:30:51 INFO: [Worker 0] Worker 0 house 1530 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:30:51 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:36:30 INFO: [Worker 0] Worker 0 house 1530 episode 0 object objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 13:36:34 INFO: [Worker 0] Batching and saving trajectory data for house_1530: 1 episodes	[pipeline.py: 233]
+05/25 13:36:34 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:36:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:36:37 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1530	[save_utils.py: 703]
+05/25 13:36:37 INFO: [Worker 0] Successfully saved trajectory data for house_1530 in 3.00s (batch: 2.84s, save: 0.16s)	[pipeline.py: 280]
+05/25 13:36:38 WARNING: [Worker 0] No trajectory data to save for house_1530	[pipeline.py: 229]
+05/25 13:36:38 INFO: [Worker 0] Worker 0 completed house 1530: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:36:38 INFO: [Worker 0] Worker 0 starting house 1558 (index 22/112)	[pipeline.py: 473]
+05/25 13:36:38 INFO: [Worker 0] Loaded 1 episodes for house 1558 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_02	[json_eval_runner.py: 278]
+05/25 13:36:38 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 13:36:39 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/24464015c15b4662a32be7625ae3f75b	[json_eval_task_sampler.py: 648]
+05/25 13:36:39 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e9670b35612840bd92354dd8936d3c6a	[json_eval_task_sampler.py: 648]
+05/25 13:36:39 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/10578ce7eca64714b260b142553f34f5	[json_eval_task_sampler.py: 648]
+05/25 13:36:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1558_ceiling.xml	[task_sampler.py: 797]
+05/25 13:36:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1558, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:36:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:36:44 INFO: [Worker 0] randomize_scene: Setting poses for 69 objects	[json_eval_task_sampler.py: 686]
+05/25 13:36:44 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:36:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:36:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:36:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:36:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:36:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:36:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:36:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:36:44 INFO: [Worker 0] Sampled task 'Pick up the stopwatch and place it in or on the shallow bowl filled with rice'	[task_sampler.py: 1136]
+05/25 13:36:44 INFO: [Worker 0] Worker 0 house 1558 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:36:44 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:37:59 INFO: [Worker 0] Worker 0 house 1558 episode 0 object objastopwatch_9bed8516b3264d0fa505609c1d19ccf0_1_0_3 completed with success=True	[pipeline.py: 1114]
+05/25 13:38:02 INFO: [Worker 0] Batching and saving trajectory data for house_1558: 1 episodes	[pipeline.py: 233]
+05/25 13:38:02 INFO: [Worker 0] Preparing episode data: 137 timesteps	[save_utils.py: 284]
+05/25 13:38:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:38:05 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1558	[save_utils.py: 703]
+05/25 13:38:05 INFO: [Worker 0] Successfully saved trajectory data for house_1558 in 2.56s (batch: 2.50s, save: 0.06s)	[pipeline.py: 280]
+05/25 13:38:06 WARNING: [Worker 0] No trajectory data to save for house_1558	[pipeline.py: 229]
+05/25 13:38:06 INFO: [Worker 0] Worker 0 completed house 1558: 1/1 successful episodes	[pipeline.py: 1243]
+05/25 13:38:06 INFO: [Worker 0] Worker 0 starting house 1563 (index 23/112)	[pipeline.py: 473]
+05/25 13:38:06 INFO: [Worker 0] Loaded 2 episodes for house 1563 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_02	[json_eval_runner.py: 278]
+05/25 13:38:06 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 13:38:07 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/dc75becfc0104a358ad1354b65d19475	[json_eval_task_sampler.py: 648]
+05/25 13:38:07 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/592fc966e1de425cb6ad1982dfe6dda1	[json_eval_task_sampler.py: 648]
+05/25 13:38:07 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a6cfd144a62e446c92f0987fb81d584f	[json_eval_task_sampler.py: 648]
+05/25 13:38:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1563_ceiling.xml	[task_sampler.py: 797]
+05/25 13:38:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1563, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:38:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:38:10 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects	[json_eval_task_sampler.py: 686]
+05/25 13:38:10 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:38:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:38:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:38:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:38:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:38:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:38:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:38:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:38:10 INFO: [Worker 0] Sampled task 'Pick up the gray cylindrical bacterium and place it in or on the weathered gray cracked stone bowl'	[task_sampler.py: 1136]
+05/25 13:38:10 INFO: [Worker 0] Worker 0 house 1563 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 13:38:10 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:38:12 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 13:43:33 INFO: [Worker 0] Worker 0 house 1563 episode 0 object objabacteriummodel_f44d9a3b51e14bf38fe32292b0ac8bba_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 13:43:38 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 13:43:39 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/dc75becfc0104a358ad1354b65d19475	[json_eval_task_sampler.py: 648]
+05/25 13:43:39 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/592fc966e1de425cb6ad1982dfe6dda1	[json_eval_task_sampler.py: 648]
+05/25 13:43:39 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a6cfd144a62e446c92f0987fb81d584f	[json_eval_task_sampler.py: 648]
+05/25 13:43:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1563_ceiling.xml	[task_sampler.py: 797]
+05/25 13:43:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1563, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:43:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:43:43 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects	[json_eval_task_sampler.py: 686]
+05/25 13:43:43 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:43:43 INFO: [Worker 0] Sampled task 'Pick up the red apple and place it in or on the gray cracked stone bowl'	[task_sampler.py: 1136]
+05/25 13:43:43 INFO: [Worker 0] Worker 0 house 1563 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 13:43:43 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:43:45 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]
+05/25 13:48:53 INFO: [Worker 0] Worker 0 house 1563 episode 1 object objadecorativeapple_d45af814432c425da6d8339be0e2ad16_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 13:48:58 INFO: [Worker 0] Batching and saving trajectory data for house_1563: 2 episodes	[pipeline.py: 233]
+05/25 13:48:58 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:49:02 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:49:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:49:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:49:05 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1563	[save_utils.py: 703]
+05/25 13:49:05 INFO: [Worker 0] Successfully saved trajectory data for house_1563 in 7.44s (batch: 7.12s, save: 0.32s)	[pipeline.py: 280]
+05/25 13:49:06 WARNING: [Worker 0] No trajectory data to save for house_1563	[pipeline.py: 229]
+05/25 13:49:06 INFO: [Worker 0] Worker 0 completed house 1563: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 13:49:06 INFO: [Worker 0] Worker 0 starting house 1608 (index 24/112)	[pipeline.py: 473]
+05/25 13:49:06 INFO: [Worker 0] Loaded 1 episodes for house 1608 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_02	[json_eval_runner.py: 278]
+05/25 13:49:06 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 13:49:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/cbb67bbbe42e42189931574ce0d4926d	[json_eval_task_sampler.py: 648]
+05/25 13:49:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/836b48b21dcb4842a208c66f106abf18	[json_eval_task_sampler.py: 648]
+05/25 13:49:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c14e37cc7b7448bb9ed3bc33106a52b6	[json_eval_task_sampler.py: 648]
+05/25 13:49:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1608_ceiling.xml	[task_sampler.py: 797]
+05/25 13:49:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1608, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:49:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:49:11 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects	[json_eval_task_sampler.py: 686]
+05/25 13:49:11 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:49:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:49:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:49:11 INFO: [Worker 0] Sampled task 'Pick up the wall socket and place it in or on the leaf dish'	[task_sampler.py: 1136]
+05/25 13:49:11 INFO: [Worker 0] Worker 0 house 1608 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:49:12 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:49:14 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 13:55:19 INFO: [Worker 0] Worker 0 house 1608 episode 0 object objaelectricaloutlet_e2fca2ea1a1242098709060a1e7f8886_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 13:55:25 INFO: [Worker 0] Batching and saving trajectory data for house_1608: 1 episodes	[pipeline.py: 233]
+05/25 13:55:25 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 13:55:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 13:55:29 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1608	[save_utils.py: 703]
+05/25 13:55:29 INFO: [Worker 0] Successfully saved trajectory data for house_1608 in 4.59s (batch: 4.46s, save: 0.13s)	[pipeline.py: 280]
+05/25 13:55:30 WARNING: [Worker 0] No trajectory data to save for house_1608	[pipeline.py: 229]
+05/25 13:55:30 INFO: [Worker 0] Worker 0 completed house 1608: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 13:55:30 INFO: [Worker 0] Worker 0 starting house 1658 (index 25/112)	[pipeline.py: 473]
+05/25 13:55:30 INFO: [Worker 0] Loaded 1 episodes for house 1658 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_02	[json_eval_runner.py: 278]
+05/25 13:55:30 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 13:55:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/48272cae86364aa0995e70658330c0a9	[json_eval_task_sampler.py: 648]
+05/25 13:55:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_12	[json_eval_task_sampler.py: 648]
+05/25 13:55:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/1e23d9b649a643528ce00de750e858de	[json_eval_task_sampler.py: 648]
+05/25 13:55:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1658_ceiling.xml	[task_sampler.py: 797]
+05/25 13:55:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1658, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 13:55:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 13:55:40 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects	[json_eval_task_sampler.py: 686]
+05/25 13:55:40 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 13:55:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 13:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 13:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 13:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 13:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 13:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 13:55:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 13:55:40 INFO: [Worker 0] Sampled task 'Pick up the yellow crown with gems and place it in or on the dark gray matte bowl with ridges'	[task_sampler.py: 1136]
+05/25 13:55:40 INFO: [Worker 0] Worker 0 house 1658 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 13:55:40 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 13:55:41 WARNING: [Worker 0] Could not find object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_5 in scene	[object_manager.py: 1238]
+05/25 13:55:43 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]
+05/25 14:04:04 INFO: [Worker 0] Worker 0 house 1658 episode 0 object objacrown_f55adc1957b74a749ebbcfd3312e69d5_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 14:04:10 INFO: [Worker 0] Batching and saving trajectory data for house_1658: 1 episodes	[pipeline.py: 233]
+05/25 14:04:10 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:04:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:04:15 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1658	[save_utils.py: 703]
+05/25 14:04:15 INFO: [Worker 0] Successfully saved trajectory data for house_1658 in 4.73s (batch: 4.40s, save: 0.33s)	[pipeline.py: 280]
+05/25 14:04:16 WARNING: [Worker 0] No trajectory data to save for house_1658	[pipeline.py: 229]
+05/25 14:04:16 INFO: [Worker 0] Worker 0 completed house 1658: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:04:16 INFO: [Worker 0] Worker 0 starting house 1695 (index 26/112)	[pipeline.py: 473]
+05/25 14:04:16 INFO: [Worker 0] Loaded 1 episodes for house 1695 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_02	[json_eval_runner.py: 278]
+05/25 14:04:16 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 14:04:21 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7b3bfdab414148a08cbf46fc105e280a	[json_eval_task_sampler.py: 648]
+05/25 14:04:21 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/372c4540cbe148b9bddcbbf1761b5e81	[json_eval_task_sampler.py: 648]
+05/25 14:04:21 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_29	[json_eval_task_sampler.py: 648]
+05/25 14:04:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1695_ceiling.xml	[task_sampler.py: 797]
+05/25 14:04:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1695, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:04:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:04:29 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects	[json_eval_task_sampler.py: 686]
+05/25 14:04:29 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:04:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:04:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:04:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:04:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:04:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:04:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:04:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:04:29 INFO: [Worker 0] Sampled task 'Pick up the matte black tube and place it in or on the rustic brown coconut bowl'	[task_sampler.py: 1136]
+05/25 14:04:29 INFO: [Worker 0] Worker 0 house 1695 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:04:29 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:04:30 WARNING: [Worker 0] Could not find object objaminiaturecastletower_a08a00d32f694f219170f6867cbc7d46_1_0_5 in scene	[object_manager.py: 1238]
+05/25 14:04:30 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene	[object_manager.py: 1238]
+05/25 14:12:27 INFO: [Worker 0] Worker 0 house 1695 episode 0 object objatube_0f7ec1dcb01d4943972e3a9168f52e8e_2_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 14:12:33 INFO: [Worker 0] Batching and saving trajectory data for house_1695: 1 episodes	[pipeline.py: 233]
+05/25 14:12:33 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:12:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:12:38 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1695	[save_utils.py: 703]
+05/25 14:12:38 INFO: [Worker 0] Successfully saved trajectory data for house_1695 in 5.14s (batch: 5.00s, save: 0.14s)	[pipeline.py: 280]
+05/25 14:12:39 WARNING: [Worker 0] No trajectory data to save for house_1695	[pipeline.py: 229]
+05/25 14:12:39 INFO: [Worker 0] Worker 0 completed house 1695: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:12:39 INFO: [Worker 0] Worker 0 starting house 1742 (index 27/112)	[pipeline.py: 473]
+05/25 14:12:39 INFO: [Worker 0] Loaded 1 episodes for house 1742 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_02	[json_eval_runner.py: 278]
+05/25 14:12:39 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 14:12:40 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ce448005340241c8acd2034b72cd09f8	[json_eval_task_sampler.py: 648]
+05/25 14:12:40 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/4bf7b7b26a704818b1ed3d703a11855b	[json_eval_task_sampler.py: 648]
+05/25 14:12:40 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_9	[json_eval_task_sampler.py: 648]
+05/25 14:12:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1742_ceiling.xml	[task_sampler.py: 797]
+05/25 14:12:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1742, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:12:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:12:46 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects	[json_eval_task_sampler.py: 686]
+05/25 14:12:46 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:12:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:12:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:12:46 INFO: [Worker 0] Sampled task 'Pick up the soap bottle and place it in or on the rectangular brown medical case'	[task_sampler.py: 1136]
+05/25 14:12:46 INFO: [Worker 0] Worker 0 house 1742 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:12:46 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:12:46 WARNING: [Worker 0] Could not find object objatoyrifle_c085a04dae664cfe958c22fde3a18283_1_0_6 in scene	[object_manager.py: 1238]
+05/25 14:12:46 WARNING: [Worker 0] Could not find object plate_ac19ca22ae10d8179cdc8dc68e02072d_1_0_6 in scene	[object_manager.py: 1238]
+05/25 14:12:48 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 14:18:15 INFO: [Worker 0] Worker 0 house 1742 episode 0 object soapdispenser_a44357a2040f1b94a5a7e0de00e153b6_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 14:18:20 INFO: [Worker 0] Batching and saving trajectory data for house_1742: 1 episodes	[pipeline.py: 233]
+05/25 14:18:20 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:18:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:18:24 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1742	[save_utils.py: 703]
+05/25 14:18:24 INFO: [Worker 0] Successfully saved trajectory data for house_1742 in 4.03s (batch: 3.79s, save: 0.24s)	[pipeline.py: 280]
+05/25 14:18:25 WARNING: [Worker 0] No trajectory data to save for house_1742	[pipeline.py: 229]
+05/25 14:18:25 INFO: [Worker 0] Worker 0 completed house 1742: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:18:25 INFO: [Worker 0] Worker 0 starting house 1788 (index 28/112)	[pipeline.py: 473]
+05/25 14:18:25 INFO: [Worker 0] Loaded 1 episodes for house 1788 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_02	[json_eval_runner.py: 278]
+05/25 14:18:25 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 14:18:28 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/cb8931cc79b24d9cacb1d12349594c3b	[json_eval_task_sampler.py: 648]
+05/25 14:18:28 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/27dd012c10e64049b8ca900fe86f077f	[json_eval_task_sampler.py: 648]
+05/25 14:18:28 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b88a0160da29481fb7866fda93457fe3	[json_eval_task_sampler.py: 648]
+05/25 14:18:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1788_ceiling.xml	[task_sampler.py: 797]
+05/25 14:18:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1788, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:18:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:18:33 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects	[json_eval_task_sampler.py: 686]
+05/25 14:18:33 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:18:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:18:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:18:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:18:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:18:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:18:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:18:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:18:33 INFO: [Worker 0] Sampled task 'Pick up the brown horseshoe crab with detailed underside and place it in or on the white ceramic bowl with food'	[task_sampler.py: 1136]
+05/25 14:18:33 INFO: [Worker 0] Worker 0 house 1788 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:18:33 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:18:36 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 14:27:09 INFO: [Worker 0] Worker 0 house 1788 episode 0 object objahorseshoecrabreplica_83d671d2c26b4cdaa25177e305386ab3_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 14:27:14 INFO: [Worker 0] Batching and saving trajectory data for house_1788: 1 episodes	[pipeline.py: 233]
+05/25 14:27:14 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:27:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:27:19 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1788	[save_utils.py: 703]
+05/25 14:27:19 INFO: [Worker 0] Successfully saved trajectory data for house_1788 in 4.40s (batch: 4.19s, save: 0.21s)	[pipeline.py: 280]
+05/25 14:27:20 WARNING: [Worker 0] No trajectory data to save for house_1788	[pipeline.py: 229]
+05/25 14:27:20 INFO: [Worker 0] Worker 0 completed house 1788: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:27:20 INFO: [Worker 0] Worker 0 starting house 1848 (index 29/112)	[pipeline.py: 473]
+05/25 14:27:20 INFO: [Worker 0] Loaded 1 episodes for house 1848 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_02	[json_eval_runner.py: 278]
+05/25 14:27:20 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 14:27:20 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7bcc0425058142c59255979a2b61f0d2	[json_eval_task_sampler.py: 648]
+05/25 14:27:21 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0aab5f2a6f744c13bffef0fccf53c0e0	[json_eval_task_sampler.py: 648]
+05/25 14:27:21 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c2bd80794a3947238fe610f5733be9d2	[json_eval_task_sampler.py: 648]
+05/25 14:27:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1848_ceiling.xml	[task_sampler.py: 797]
+05/25 14:27:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1848, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:27:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:27:23 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects	[json_eval_task_sampler.py: 686]
+05/25 14:27:23 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:27:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:27:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:27:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:27:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:27:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:27:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:27:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:27:23 INFO: [Worker 0] Sampled task 'Pick up the pale yellow disk and place it in or on the simple round gray ceramic bowl'	[task_sampler.py: 1136]
+05/25 14:27:23 INFO: [Worker 0] Worker 0 house 1848 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:27:23 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:27:25 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 14:33:11 INFO: [Worker 0] Worker 0 house 1848 episode 0 object objadisk_97aa2085a8c143c0aacdce273d66d03d_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 14:33:16 INFO: [Worker 0] Batching and saving trajectory data for house_1848: 1 episodes	[pipeline.py: 233]
+05/25 14:33:16 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:33:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:33:20 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1848	[save_utils.py: 703]
+05/25 14:33:20 INFO: [Worker 0] Successfully saved trajectory data for house_1848 in 3.75s (batch: 3.57s, save: 0.19s)	[pipeline.py: 280]
+05/25 14:33:21 WARNING: [Worker 0] No trajectory data to save for house_1848	[pipeline.py: 229]
+05/25 14:33:21 INFO: [Worker 0] Worker 0 completed house 1848: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:33:21 INFO: [Worker 0] Worker 0 starting house 1859 (index 30/112)	[pipeline.py: 473]
+05/25 14:33:21 INFO: [Worker 0] Loaded 2 episodes for house 1859 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_02	[json_eval_runner.py: 278]
+05/25 14:33:21 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 14:33:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_18	[json_eval_task_sampler.py: 648]
+05/25 14:33:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b54b110dfccb4ea3a8f5a06cc65edc5a	[json_eval_task_sampler.py: 648]
+05/25 14:33:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0564efdff76649c48c0c41b49dd6a25e	[json_eval_task_sampler.py: 648]
+05/25 14:33:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1859_ceiling.xml	[task_sampler.py: 797]
+05/25 14:33:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1859, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:33:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:33:26 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects	[json_eval_task_sampler.py: 686]
+05/25 14:33:26 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:33:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:33:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:33:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:33:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:33:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:33:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:33:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:33:26 INFO: [Worker 0] Sampled task 'Pick up the bell and place it in or on the gray ceramic bowl'	[task_sampler.py: 1136]
+05/25 14:33:26 INFO: [Worker 0] Worker 0 house 1859 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 14:33:26 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:39:00 INFO: [Worker 0] Worker 0 house 1859 episode 0 object objajinglebell_30dddadabd2a4115b4f16e4afb4c98ef_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 14:39:07 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 14:39:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_18	[json_eval_task_sampler.py: 648]
+05/25 14:39:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b54b110dfccb4ea3a8f5a06cc65edc5a	[json_eval_task_sampler.py: 648]
+05/25 14:39:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0564efdff76649c48c0c41b49dd6a25e	[json_eval_task_sampler.py: 648]
+05/25 14:39:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1859_ceiling.xml	[task_sampler.py: 797]
+05/25 14:39:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1859, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:39:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:39:14 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects	[json_eval_task_sampler.py: 686]
+05/25 14:39:14 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:39:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:39:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:39:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:39:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:39:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:39:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:39:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:39:14 INFO: [Worker 0] Sampled task 'Pick up the packaging and place it in or on the gray bowl'	[task_sampler.py: 1136]
+05/25 14:39:14 INFO: [Worker 0] Worker 0 house 1859 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 14:39:14 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:43:34 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]
+05/25 14:50:02 INFO: [Worker 0] Worker 0 house 1859 episode 1 object objapackaging_33c69733e61e4cc1953c79a1806b89ab_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 14:50:07 INFO: [Worker 0] Batching and saving trajectory data for house_1859: 2 episodes	[pipeline.py: 233]
+05/25 14:50:07 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:50:11 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:50:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:50:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:50:15 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1859	[save_utils.py: 703]
+05/25 14:50:15 INFO: [Worker 0] Successfully saved trajectory data for house_1859 in 7.65s (batch: 7.24s, save: 0.41s)	[pipeline.py: 280]
+05/25 14:50:16 WARNING: [Worker 0] No trajectory data to save for house_1859	[pipeline.py: 229]
+05/25 14:50:16 INFO: [Worker 0] Worker 0 completed house 1859: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 14:50:16 INFO: [Worker 0] Worker 0 starting house 1879 (index 31/112)	[pipeline.py: 473]
+05/25 14:50:16 INFO: [Worker 0] Loaded 1 episodes for house 1879 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_02	[json_eval_runner.py: 278]
+05/25 14:50:16 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 14:50:16 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bcf3a4e49ee14eeda2faca7c7455161d	[json_eval_task_sampler.py: 648]
+05/25 14:50:16 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/659e6917a5b145fc88b46882fde3764d	[json_eval_task_sampler.py: 648]
+05/25 14:50:16 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0f5266888bc749ea916c69d88b375cbf	[json_eval_task_sampler.py: 648]
+05/25 14:50:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1879_ceiling.xml	[task_sampler.py: 797]
+05/25 14:50:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1879, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:50:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:50:19 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects	[json_eval_task_sampler.py: 686]
+05/25 14:50:19 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:50:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:50:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:50:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:50:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:50:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:50:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:50:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:50:19 INFO: [Worker 0] Sampled task 'Pick up the tooth and place it in or on the round dish with scrollwork'	[task_sampler.py: 1136]
+05/25 14:50:19 INFO: [Worker 0] Worker 0 house 1879 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:50:19 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:52:57 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 14:58:53 INFO: [Worker 0] Worker 0 house 1879 episode 0 object objadecorativeitem_9b759ad7a4e344f0a3358219442b5fff_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 14:58:58 INFO: [Worker 0] Batching and saving trajectory data for house_1879: 1 episodes	[pipeline.py: 233]
+05/25 14:58:58 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 14:59:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 14:59:01 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1879	[save_utils.py: 703]
+05/25 14:59:01 INFO: [Worker 0] Successfully saved trajectory data for house_1879 in 3.42s (batch: 3.26s, save: 0.16s)	[pipeline.py: 280]
+05/25 14:59:02 WARNING: [Worker 0] No trajectory data to save for house_1879	[pipeline.py: 229]
+05/25 14:59:02 INFO: [Worker 0] Worker 0 completed house 1879: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 14:59:02 INFO: [Worker 0] Worker 0 starting house 1943 (index 32/112)	[pipeline.py: 473]
+05/25 14:59:02 INFO: [Worker 0] Loaded 1 episodes for house 1943 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_02	[json_eval_runner.py: 278]
+05/25 14:59:02 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]
+05/25 14:59:04 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/24464015c15b4662a32be7625ae3f75b	[json_eval_task_sampler.py: 648]
+05/25 14:59:04 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/af838119a5a14e6ea3cc7e6cb53e2bd8	[json_eval_task_sampler.py: 648]
+05/25 14:59:04 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/24ee73c87dcf4161a630bb65dee2a7a5	[json_eval_task_sampler.py: 648]
+05/25 14:59:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1943_ceiling.xml	[task_sampler.py: 797]
+05/25 14:59:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1943, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 14:59:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 14:59:08 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects	[json_eval_task_sampler.py: 686]
+05/25 14:59:08 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 14:59:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 14:59:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 14:59:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 14:59:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 14:59:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 14:59:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 14:59:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 14:59:08 INFO: [Worker 0] Sampled task 'Pick up the miniature red torii gate and place it in or on the creamy ceramic bowl'	[task_sampler.py: 1136]
+05/25 14:59:08 INFO: [Worker 0] Worker 0 house 1943 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 14:59:08 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 14:59:10 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 15:05:18 INFO: [Worker 0] Worker 0 house 1943 episode 0 object objaminiaturetoriigate_e515fa19e7964981b817181132c3beec_2_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 15:05:23 INFO: [Worker 0] Batching and saving trajectory data for house_1943: 1 episodes	[pipeline.py: 233]
+05/25 15:05:23 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:05:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:05:26 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1943	[save_utils.py: 703]
+05/25 15:05:26 INFO: [Worker 0] Successfully saved trajectory data for house_1943 in 3.57s (batch: 3.42s, save: 0.15s)	[pipeline.py: 280]
+05/25 15:05:27 WARNING: [Worker 0] No trajectory data to save for house_1943	[pipeline.py: 229]
+05/25 15:05:27 INFO: [Worker 0] Worker 0 completed house 1943: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:05:27 INFO: [Worker 0] Worker 0 starting house 2007 (index 33/112)	[pipeline.py: 473]
+05/25 15:05:27 INFO: [Worker 0] Loaded 1 episodes for house 2007 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_02	[json_eval_runner.py: 278]
+05/25 15:05:27 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 15:05:30 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_26	[json_eval_task_sampler.py: 648]
+05/25 15:05:30 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_12	[json_eval_task_sampler.py: 648]
+05/25 15:05:30 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ac3628478f6c4042a16e77d6753fa413	[json_eval_task_sampler.py: 648]
+05/25 15:05:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2007_ceiling.xml	[task_sampler.py: 797]
+05/25 15:05:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2007, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:05:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:05:37 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects	[json_eval_task_sampler.py: 686]
+05/25 15:05:37 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:05:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:05:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:05:37 INFO: [Worker 0] Sampled task 'Pick up the wooden knife and place it in or on the weathered rustic bowl'	[task_sampler.py: 1136]
+05/25 15:05:37 INFO: [Worker 0] Worker 0 house 2007 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:05:37 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:05:40 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 15:15:06 INFO: [Worker 0] Worker 0 house 2007 episode 0 object objaknife_6e340bdb143e4548ae5586f516c29f3b_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 15:15:10 INFO: [Worker 0] Batching and saving trajectory data for house_2007: 1 episodes	[pipeline.py: 233]
+05/25 15:15:10 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:15:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:15:12 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2007	[save_utils.py: 703]
+05/25 15:15:12 INFO: [Worker 0] Successfully saved trajectory data for house_2007 in 2.73s (batch: 2.62s, save: 0.11s)	[pipeline.py: 280]
+05/25 15:15:13 WARNING: [Worker 0] No trajectory data to save for house_2007	[pipeline.py: 229]
+05/25 15:15:13 INFO: [Worker 0] Worker 0 completed house 2007: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:15:13 INFO: [Worker 0] Worker 0 starting house 2066 (index 34/112)	[pipeline.py: 473]
+05/25 15:15:13 INFO: [Worker 0] Loaded 1 episodes for house 2066 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_02	[json_eval_runner.py: 278]
+05/25 15:15:13 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 15:15:14 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/4b5c2f816e814756960ac3be616fd29d	[json_eval_task_sampler.py: 648]
+05/25 15:15:14 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/74f5c16ba1f5406ba30bda961f0c0bd1	[json_eval_task_sampler.py: 648]
+05/25 15:15:14 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0564efdff76649c48c0c41b49dd6a25e	[json_eval_task_sampler.py: 648]
+05/25 15:15:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2066_ceiling.xml	[task_sampler.py: 797]
+05/25 15:15:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2066, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:15:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:15:16 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects	[json_eval_task_sampler.py: 686]
+05/25 15:15:16 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:15:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:15:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:15:17 INFO: [Worker 0] Sampled task 'Pick up the black zigzag crown with gemstone and place it in or on the rustic earthenware bowl with texture'	[task_sampler.py: 1136]
+05/25 15:15:17 INFO: [Worker 0] Worker 0 house 2066 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:15:17 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:17:09 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 15:21:49 INFO: [Worker 0] Worker 0 house 2066 episode 0 object objadecorativecrown_c5a38852c7484fb1aeeae0aea2509415_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 15:21:53 INFO: [Worker 0] Batching and saving trajectory data for house_2066: 1 episodes	[pipeline.py: 233]
+05/25 15:21:53 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:21:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:21:56 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2066	[save_utils.py: 703]
+05/25 15:21:56 INFO: [Worker 0] Successfully saved trajectory data for house_2066 in 3.35s (batch: 3.21s, save: 0.14s)	[pipeline.py: 280]
+05/25 15:21:57 WARNING: [Worker 0] No trajectory data to save for house_2066	[pipeline.py: 229]
+05/25 15:21:57 INFO: [Worker 0] Worker 0 completed house 2066: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:21:57 INFO: [Worker 0] Worker 0 starting house 2119 (index 35/112)	[pipeline.py: 473]
+05/25 15:21:57 INFO: [Worker 0] Loaded 1 episodes for house 2119 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_02	[json_eval_runner.py: 278]
+05/25 15:21:57 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 15:22:00 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b4351af051964283968b5fed441ee844	[json_eval_task_sampler.py: 648]
+05/25 15:22:00 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/7d2737e16fcf4d40bc549521ba6a2d02	[json_eval_task_sampler.py: 648]
+05/25 15:22:00 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b60e63f150034acbabd32dc9ef8563de	[json_eval_task_sampler.py: 648]
+05/25 15:22:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2119_ceiling.xml	[task_sampler.py: 797]
+05/25 15:22:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2119, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:22:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:22:06 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects	[json_eval_task_sampler.py: 686]
+05/25 15:22:06 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:22:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:22:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:22:06 INFO: [Worker 0] Sampled task 'Pick up the gray rectangular ethernet transceiver and place it in or on the rustic clay bowl with two handles'	[task_sampler.py: 1136]
+05/25 15:22:06 INFO: [Worker 0] Worker 0 house 2119 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:22:06 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:22:06 WARNING: [Worker 0] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene	[object_manager.py: 1238]
+05/25 15:22:06 WARNING: [Worker 0] Could not find object objadecorativeemblem_778a4615e0c044ebb555be6f06b8082a_1_0_5 in scene	[object_manager.py: 1238]
+05/25 15:22:06 WARNING: [Worker 0] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_1_0_6 in scene	[object_manager.py: 1238]
+05/25 15:26:45 INFO: [Worker 0] Worker 0 house 2119 episode 0 object objanetworkdevice_224e056b02a040039f7c4a9b141e25e5_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 15:26:49 INFO: [Worker 0] Batching and saving trajectory data for house_2119: 1 episodes	[pipeline.py: 233]
+05/25 15:26:49 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:26:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:26:52 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2119	[save_utils.py: 703]
+05/25 15:26:52 INFO: [Worker 0] Successfully saved trajectory data for house_2119 in 3.05s (batch: 2.89s, save: 0.17s)	[pipeline.py: 280]
+05/25 15:26:53 WARNING: [Worker 0] No trajectory data to save for house_2119	[pipeline.py: 229]
+05/25 15:26:53 INFO: [Worker 0] Worker 0 completed house 2119: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:26:53 INFO: [Worker 0] Worker 0 starting house 2151 (index 36/112)	[pipeline.py: 473]
+05/25 15:26:53 INFO: [Worker 0] Loaded 1 episodes for house 2151 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_02	[json_eval_runner.py: 278]
+05/25 15:26:53 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 15:26:54 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b4058303001a4878bbe5c3f248dedd78	[json_eval_task_sampler.py: 648]
+05/25 15:26:54 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/63211cbfb48044bcbdbbd30a3aa3bb75	[json_eval_task_sampler.py: 648]
+05/25 15:26:54 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bcf3a4e49ee14eeda2faca7c7455161d	[json_eval_task_sampler.py: 648]
+05/25 15:26:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2151_ceiling.xml	[task_sampler.py: 797]
+05/25 15:26:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2151, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:26:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:26:59 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects	[json_eval_task_sampler.py: 686]
+05/25 15:26:59 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:26:59 INFO: [Worker 0] Sampled task 'Pick up the slender long wooden needle and place it in or on the shallow white glossy ceramic bowl'	[task_sampler.py: 1136]
+05/25 15:26:59 INFO: [Worker 0] Worker 0 house 2151 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:26:59 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:27:00 WARNING: [Worker 0] Could not find object objabranch_c8fd0c9188a4425da438b523e548260a_1_0_6 in scene	[object_manager.py: 1238]
+05/25 15:27:00 WARNING: [Worker 0] Could not find object objadecorativestone_a19f0e4b24284b9294c0b64bb1a3f35a_1_0_6 in scene	[object_manager.py: 1238]
+05/25 15:27:01 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 15:28:44 INFO: [Worker 0] Worker 0 house 2151 episode 0 object objaneedle_670e254acfb44a9b94daec587589da6d_1_0_2 completed with success=True	[pipeline.py: 1114]
+05/25 15:28:48 INFO: [Worker 0] Batching and saving trajectory data for house_2151: 1 episodes	[pipeline.py: 233]
+05/25 15:28:48 INFO: [Worker 0] Preparing episode data: 113 timesteps	[save_utils.py: 284]
+05/25 15:28:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:28:50 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2151	[save_utils.py: 703]
+05/25 15:28:50 INFO: [Worker 0] Successfully saved trajectory data for house_2151 in 2.57s (batch: 2.52s, save: 0.06s)	[pipeline.py: 280]
+05/25 15:28:51 WARNING: [Worker 0] No trajectory data to save for house_2151	[pipeline.py: 229]
+05/25 15:28:51 INFO: [Worker 0] Worker 0 completed house 2151: 1/1 successful episodes	[pipeline.py: 1243]
+05/25 15:28:51 INFO: [Worker 0] Worker 0 starting house 2181 (index 37/112)	[pipeline.py: 473]
+05/25 15:28:51 INFO: [Worker 0] Loaded 1 episodes for house 2181 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_02	[json_eval_runner.py: 278]
+05/25 15:28:51 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 15:28:52 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_20	[json_eval_task_sampler.py: 648]
+05/25 15:28:52 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e11475635c464216a2213d65c45a319a	[json_eval_task_sampler.py: 648]
+05/25 15:28:52 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4e33154ce3a40e4bd2b34f8de4f548c	[json_eval_task_sampler.py: 648]
+05/25 15:28:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2181_ceiling.xml	[task_sampler.py: 797]
+05/25 15:28:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2181, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:28:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:28:55 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects	[json_eval_task_sampler.py: 686]
+05/25 15:28:55 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:28:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:28:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:28:55 INFO: [Worker 0] Sampled task 'Pick up the long beige spatula and place it in or on the dark pot'	[task_sampler.py: 1136]
+05/25 15:28:55 INFO: [Worker 0] Worker 0 house 2181 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:28:56 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:28:56 WARNING: [Worker 0] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene	[object_manager.py: 1238]
+05/25 15:28:56 WARNING: [Worker 0] Could not find object objasqueegee_0d1fb3b4d6ce487c8c502b31e2644a7f_1_0_5 in scene	[object_manager.py: 1238]
+05/25 15:30:53 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 15:36:22 INFO: [Worker 0] Worker 0 house 2181 episode 0 object objaspatula_8208e17164a04672bfabc6152ff43e71_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 15:36:26 INFO: [Worker 0] Batching and saving trajectory data for house_2181: 1 episodes	[pipeline.py: 233]
+05/25 15:36:26 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:36:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:36:30 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2181	[save_utils.py: 703]
+05/25 15:36:30 INFO: [Worker 0] Successfully saved trajectory data for house_2181 in 3.65s (batch: 3.50s, save: 0.16s)	[pipeline.py: 280]
+05/25 15:36:31 WARNING: [Worker 0] No trajectory data to save for house_2181	[pipeline.py: 229]
+05/25 15:36:31 INFO: [Worker 0] Worker 0 completed house 2181: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:36:31 INFO: [Worker 0] Worker 0 starting house 2214 (index 38/112)	[pipeline.py: 473]
+05/25 15:36:31 INFO: [Worker 0] Loaded 1 episodes for house 2214 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_02	[json_eval_runner.py: 278]
+05/25 15:36:31 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 15:36:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0564efdff76649c48c0c41b49dd6a25e	[json_eval_task_sampler.py: 648]
+05/25 15:36:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/9e167f4b5fcd446e8ff3c4ca5b257286	[json_eval_task_sampler.py: 648]
+05/25 15:36:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ede795f1c6f74a99b6952183f340fcb8	[json_eval_task_sampler.py: 648]
+05/25 15:36:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2214_ceiling.xml	[task_sampler.py: 797]
+05/25 15:36:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2214, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:36:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:36:40 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects	[json_eval_task_sampler.py: 686]
+05/25 15:36:40 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:36:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:36:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:36:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:36:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:36:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:36:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:36:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:36:40 INFO: [Worker 0] Sampled task 'Pick up the vintage paint roller tool and place it in or on the smooth glossy golden bowl with concave'	[task_sampler.py: 1136]
+05/25 15:36:40 INFO: [Worker 0] Worker 0 house 2214 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:36:40 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:36:43 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]
+05/25 15:42:02 INFO: [Worker 0] Worker 0 house 2214 episode 0 object objapaintroller_28facf39b5fc4593b466132c0150f6a3_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 15:42:06 INFO: [Worker 0] Batching and saving trajectory data for house_2214: 1 episodes	[pipeline.py: 233]
+05/25 15:42:06 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:42:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:42:10 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2214	[save_utils.py: 703]
+05/25 15:42:10 INFO: [Worker 0] Successfully saved trajectory data for house_2214 in 3.17s (batch: 3.02s, save: 0.15s)	[pipeline.py: 280]
+05/25 15:42:10 WARNING: [Worker 0] No trajectory data to save for house_2214	[pipeline.py: 229]
+05/25 15:42:10 INFO: [Worker 0] Worker 0 completed house 2214: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:42:10 INFO: [Worker 0] Worker 0 starting house 2255 (index 39/112)	[pipeline.py: 473]
+05/25 15:42:10 INFO: [Worker 0] Loaded 1 episodes for house 2255 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_02	[json_eval_runner.py: 278]
+05/25 15:42:10 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 15:42:11 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/DecorativeBox2	[json_eval_task_sampler.py: 648]
+05/25 15:42:11 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b88a0160da29481fb7866fda93457fe3	[json_eval_task_sampler.py: 648]
+05/25 15:42:11 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/f486de07c6f347588bcd3d22456f328d	[json_eval_task_sampler.py: 648]
+05/25 15:42:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2255_ceiling.xml	[task_sampler.py: 797]
+05/25 15:42:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2255, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:42:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:42:13 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects	[json_eval_task_sampler.py: 686]
+05/25 15:42:13 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:42:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:42:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:42:13 INFO: [Worker 0] Sampled task 'Pick up the smooth dark wood tool with curve and place it in or on the white bowl with ducks'	[task_sampler.py: 1136]
+05/25 15:42:13 INFO: [Worker 0] Worker 0 house 2255 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:42:13 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:42:15 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 15:46:36 INFO: [Worker 0] Worker 0 house 2255 episode 0 object objawoodentool_6727d5933a6f4097a678f6ee8b3d1de0_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 15:46:41 INFO: [Worker 0] Batching and saving trajectory data for house_2255: 1 episodes	[pipeline.py: 233]
+05/25 15:46:41 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:46:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:46:44 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2255	[save_utils.py: 703]
+05/25 15:46:44 INFO: [Worker 0] Successfully saved trajectory data for house_2255 in 3.35s (batch: 3.09s, save: 0.25s)	[pipeline.py: 280]
+05/25 15:46:45 WARNING: [Worker 0] No trajectory data to save for house_2255	[pipeline.py: 229]
+05/25 15:46:45 INFO: [Worker 0] Worker 0 completed house 2255: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:46:45 INFO: [Worker 0] Worker 0 starting house 2309 (index 40/112)	[pipeline.py: 473]
+05/25 15:46:45 INFO: [Worker 0] Loaded 1 episodes for house 2309 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_02	[json_eval_runner.py: 278]
+05/25 15:46:45 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 15:46:47 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/2b5fd8656f2b43cba43cb0e25a2cb838	[json_eval_task_sampler.py: 648]
+05/25 15:46:47 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/7bf14a57ee5345689c3efd4bd1616466	[json_eval_task_sampler.py: 648]
+05/25 15:46:47 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_29	[json_eval_task_sampler.py: 648]
+05/25 15:46:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2309_ceiling.xml	[task_sampler.py: 797]
+05/25 15:46:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2309, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:46:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:46:51 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects	[json_eval_task_sampler.py: 686]
+05/25 15:46:51 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:46:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:46:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:46:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:46:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:46:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:46:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:46:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:46:51 INFO: [Worker 0] Sampled task 'Pick up the black microphone and place it in or on the simple matte gray bowl'	[task_sampler.py: 1136]
+05/25 15:46:51 INFO: [Worker 0] Worker 0 house 2309 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:46:51 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:46:53 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 15:51:00 INFO: [Worker 0] Worker 0 house 2309 episode 0 object objamicrophone_5f04e2fe311149afaa3e59871a465c65_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 15:51:04 INFO: [Worker 0] Batching and saving trajectory data for house_2309: 1 episodes	[pipeline.py: 233]
+05/25 15:51:04 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 15:51:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 15:51:07 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2309	[save_utils.py: 703]
+05/25 15:51:07 INFO: [Worker 0] Successfully saved trajectory data for house_2309 in 3.25s (batch: 3.02s, save: 0.23s)	[pipeline.py: 280]
+05/25 15:51:08 WARNING: [Worker 0] No trajectory data to save for house_2309	[pipeline.py: 229]
+05/25 15:51:08 INFO: [Worker 0] Worker 0 completed house 2309: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 15:51:08 INFO: [Worker 0] Worker 0 starting house 2334 (index 41/112)	[pipeline.py: 473]
+05/25 15:51:08 INFO: [Worker 0] Loaded 1 episodes for house 2334 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_02	[json_eval_runner.py: 278]
+05/25 15:51:08 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 15:51:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0	[json_eval_task_sampler.py: 648]
+05/25 15:51:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/7d2737e16fcf4d40bc549521ba6a2d02	[json_eval_task_sampler.py: 648]
+05/25 15:51:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/3339ce474c3d4fb3a35952f476ca1e4a	[json_eval_task_sampler.py: 648]
+05/25 15:51:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2334_ceiling.xml	[task_sampler.py: 797]
+05/25 15:51:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2334, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 15:51:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 15:51:13 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects	[json_eval_task_sampler.py: 686]
+05/25 15:51:13 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 15:51:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 15:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 15:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 15:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 15:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 15:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 15:51:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 15:51:13 INFO: [Worker 0] Sampled task 'Pick up the black vintage vhs cassette tape and place it in or on the rustic bowl'	[task_sampler.py: 1136]
+05/25 15:51:13 INFO: [Worker 0] Worker 0 house 2334 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 15:51:13 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 15:51:14 WARNING: [Worker 0] Could not find object pillow_1c5c1394d2ad2a6d31b918e61589a33e_2_0_6 in scene	[object_manager.py: 1238]
+05/25 15:51:14 WARNING: [Worker 0] Could not find object laptop_f09fcf086ebe9e3ab2d97bff50b833ef_1_0_6 in scene	[object_manager.py: 1238]
+05/25 15:51:15 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 15:59:59 INFO: [Worker 0] Worker 0 house 2334 episode 0 object objavhscassette_29642e0a9cad4275ac78c1d4f12660d6_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 16:00:04 INFO: [Worker 0] Batching and saving trajectory data for house_2334: 1 episodes	[pipeline.py: 233]
+05/25 16:00:04 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:00:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:00:07 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2334	[save_utils.py: 703]
+05/25 16:00:07 INFO: [Worker 0] Successfully saved trajectory data for house_2334 in 3.67s (batch: 3.51s, save: 0.16s)	[pipeline.py: 280]
+05/25 16:00:08 WARNING: [Worker 0] No trajectory data to save for house_2334	[pipeline.py: 229]
+05/25 16:00:08 INFO: [Worker 0] Worker 0 completed house 2334: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:00:08 INFO: [Worker 0] Worker 0 starting house 2382 (index 42/112)	[pipeline.py: 473]
+05/25 16:00:08 INFO: [Worker 0] Loaded 1 episodes for house 2382 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_02	[json_eval_runner.py: 278]
+05/25 16:00:08 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 16:00:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a6cfd144a62e446c92f0987fb81d584f	[json_eval_task_sampler.py: 648]
+05/25 16:00:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d50f554707f24584b988e2feea162cc5	[json_eval_task_sampler.py: 648]
+05/25 16:00:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/576495fa2f9749adaca89aa604aa68b0	[json_eval_task_sampler.py: 648]
+05/25 16:00:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2382_ceiling.xml	[task_sampler.py: 797]
+05/25 16:00:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2382, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:00:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:00:15 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects	[json_eval_task_sampler.py: 686]
+05/25 16:00:15 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:00:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:00:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:00:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:00:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:00:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:00:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:00:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:00:15 INFO: [Worker 0] Sampled task 'Pick up the white playing card with black skull and place it in or on the wavy ceramic bowl'	[task_sampler.py: 1136]
+05/25 16:00:15 INFO: [Worker 0] Worker 0 house 2382 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:00:15 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:00:18 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 16:08:50 INFO: [Worker 0] Worker 0 house 2382 episode 0 object objaplayingcard_dbdcf0441e0e442b912c0b47703eb4fc_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 16:08:54 INFO: [Worker 0] Batching and saving trajectory data for house_2382: 1 episodes	[pipeline.py: 233]
+05/25 16:08:54 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:08:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:08:57 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2382	[save_utils.py: 703]
+05/25 16:08:57 INFO: [Worker 0] Successfully saved trajectory data for house_2382 in 3.22s (batch: 3.03s, save: 0.19s)	[pipeline.py: 280]
+05/25 16:08:58 WARNING: [Worker 0] No trajectory data to save for house_2382	[pipeline.py: 229]
+05/25 16:08:58 INFO: [Worker 0] Worker 0 completed house 2382: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:08:58 INFO: [Worker 0] Worker 0 starting house 2419 (index 43/112)	[pipeline.py: 473]
+05/25 16:08:58 INFO: [Worker 0] Loaded 1 episodes for house 2419 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_02	[json_eval_runner.py: 278]
+05/25 16:08:58 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 16:09:01 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a5cb193f76ec4158b6e2fc655fa4ba92	[json_eval_task_sampler.py: 648]
+05/25 16:09:01 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e5c6cae2c71b45fe8fee9657af246c2c	[json_eval_task_sampler.py: 648]
+05/25 16:09:01 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bf83213efac34b3cb2ad6ac5ddaf05d9	[json_eval_task_sampler.py: 648]
+05/25 16:09:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2419_ceiling.xml	[task_sampler.py: 797]
+05/25 16:09:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2419, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:09:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:09:06 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects	[json_eval_task_sampler.py: 686]
+05/25 16:09:06 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:09:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:09:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:09:06 INFO: [Worker 0] Sampled task 'Pick up the compact holographic weapon sight and place it in or on the white bowl with blue'	[task_sampler.py: 1136]
+05/25 16:09:06 INFO: [Worker 0] Worker 0 house 2419 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:09:06 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:09:07 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]
+05/25 16:14:08 INFO: [Worker 0] Worker 0 house 2419 episode 0 object objaweaponsight_a7323938c943423a8a7adb8656b0168f_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 16:14:12 INFO: [Worker 0] Batching and saving trajectory data for house_2419: 1 episodes	[pipeline.py: 233]
+05/25 16:14:12 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:14:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:14:15 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2419	[save_utils.py: 703]
+05/25 16:14:15 INFO: [Worker 0] Successfully saved trajectory data for house_2419 in 3.09s (batch: 2.94s, save: 0.15s)	[pipeline.py: 280]
+05/25 16:14:16 WARNING: [Worker 0] No trajectory data to save for house_2419	[pipeline.py: 229]
+05/25 16:14:16 INFO: [Worker 0] Worker 0 completed house 2419: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:14:16 INFO: [Worker 0] Worker 0 starting house 2466 (index 44/112)	[pipeline.py: 473]
+05/25 16:14:16 INFO: [Worker 0] Loaded 1 episodes for house 2466 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_02	[json_eval_runner.py: 278]
+05/25 16:14:16 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 16:14:17 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7d2737e16fcf4d40bc549521ba6a2d02	[json_eval_task_sampler.py: 648]
+05/25 16:14:17 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/56dccb62700a4c04b42646e060c087f5	[json_eval_task_sampler.py: 648]
+05/25 16:14:17 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bfcfd4c7bfa649259e047eb92e6a5c31	[json_eval_task_sampler.py: 648]
+05/25 16:14:17 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 16:14:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2466_ceiling.xml	[task_sampler.py: 797]
+05/25 16:14:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2466, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:14:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:14:21 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects	[json_eval_task_sampler.py: 686]
+05/25 16:14:21 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:14:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:14:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:14:21 INFO: [Worker 0] Sampled task 'Pick up the black loafer with glossy bow and place it in or on the round dark speckled ceramic bowl'	[task_sampler.py: 1136]
+05/25 16:14:21 INFO: [Worker 0] Worker 0 house 2466 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:14:21 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:14:21 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:14:21 WARNING: [Worker 0] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_7 in scene	[object_manager.py: 1238]
+05/25 16:14:21 WARNING: [Worker 0] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_7 in scene	[object_manager.py: 1238]
+05/25 16:14:22 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 16:17:45 INFO: [Worker 0] Worker 0 house 2466 episode 0 object objaloafer_ac53329936e244fa8f00fe2e3e0cddd4_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 16:17:48 INFO: [Worker 0] Batching and saving trajectory data for house_2466: 1 episodes	[pipeline.py: 233]
+05/25 16:17:48 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:17:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:17:51 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2466	[save_utils.py: 703]
+05/25 16:17:51 INFO: [Worker 0] Successfully saved trajectory data for house_2466 in 2.82s (batch: 2.67s, save: 0.14s)	[pipeline.py: 280]
+05/25 16:17:52 WARNING: [Worker 0] No trajectory data to save for house_2466	[pipeline.py: 229]
+05/25 16:17:52 INFO: [Worker 0] Worker 0 completed house 2466: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:17:52 INFO: [Worker 0] Worker 0 starting house 2488 (index 45/112)	[pipeline.py: 473]
+05/25 16:17:52 INFO: [Worker 0] Loaded 2 episodes for house 2488 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_02	[json_eval_runner.py: 278]
+05/25 16:17:52 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 16:17:53 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/675213cdb6eb4b8ab4ca565f2e7f4fc4	[json_eval_task_sampler.py: 648]
+05/25 16:17:53 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_6	[json_eval_task_sampler.py: 648]
+05/25 16:17:53 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/42f50ecee3da4df498c0e1b4319366a4	[json_eval_task_sampler.py: 648]
+05/25 16:17:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2488_ceiling.xml	[task_sampler.py: 797]
+05/25 16:17:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2488, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:17:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:17:55 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects	[json_eval_task_sampler.py: 686]
+05/25 16:17:55 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:17:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:17:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:17:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:17:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:17:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:17:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:17:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:17:56 INFO: [Worker 0] Sampled task 'Pick up the plate with bird motif and place it in or on the white bowl with textured facets'	[task_sampler.py: 1136]
+05/25 16:17:56 INFO: [Worker 0] Worker 0 house 2488 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 16:17:56 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:17:57 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 16:21:58 INFO: [Worker 0] Worker 0 house 2488 episode 0 object objadecorativeplate_2a78fefe6fbf40fc8b99aef97ab12b4b_2_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 16:22:02 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]
+05/25 16:22:03 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/675213cdb6eb4b8ab4ca565f2e7f4fc4	[json_eval_task_sampler.py: 648]
+05/25 16:22:03 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_6	[json_eval_task_sampler.py: 648]
+05/25 16:22:03 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/42f50ecee3da4df498c0e1b4319366a4	[json_eval_task_sampler.py: 648]
+05/25 16:22:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2488_ceiling.xml	[task_sampler.py: 797]
+05/25 16:22:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2488, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:22:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:22:06 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects	[json_eval_task_sampler.py: 686]
+05/25 16:22:06 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:22:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:22:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:22:06 INFO: [Worker 0] Sampled task 'Pick up the plastic cup and place it in or on the white bowl with facets'	[task_sampler.py: 1136]
+05/25 16:22:06 INFO: [Worker 0] Worker 0 house 2488 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 16:22:06 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:22:07 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]
+05/25 16:26:00 INFO: [Worker 0] Worker 0 house 2488 episode 1 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 16:26:04 INFO: [Worker 0] Batching and saving trajectory data for house_2488: 2 episodes	[pipeline.py: 233]
+05/25 16:26:04 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:26:07 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:26:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:26:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:26:10 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2488	[save_utils.py: 703]
+05/25 16:26:10 INFO: [Worker 0] Successfully saved trajectory data for house_2488 in 6.07s (batch: 5.79s, save: 0.27s)	[pipeline.py: 280]
+05/25 16:26:11 WARNING: [Worker 0] No trajectory data to save for house_2488	[pipeline.py: 229]
+05/25 16:26:11 INFO: [Worker 0] Worker 0 completed house 2488: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 16:26:11 INFO: [Worker 0] Worker 0 starting house 2521 (index 46/112)	[pipeline.py: 473]
+05/25 16:26:11 INFO: [Worker 0] Loaded 1 episodes for house 2521 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_02	[json_eval_runner.py: 278]
+05/25 16:26:11 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 16:26:13 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/5efb7a6940894b5a835b4de2f3cf1559	[json_eval_task_sampler.py: 648]
+05/25 16:26:13 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e2a8c3df68a94aea94050e01ad9aa918	[json_eval_task_sampler.py: 648]
+05/25 16:26:13 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0	[json_eval_task_sampler.py: 648]
+05/25 16:26:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2521_ceiling.xml	[task_sampler.py: 797]
+05/25 16:26:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2521, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:26:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:26:17 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects	[json_eval_task_sampler.py: 686]
+05/25 16:26:17 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:26:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:26:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:26:17 INFO: [Worker 0] Sampled task 'Pick up the light beige smooth wooden rod and place it in or on the stone bowl filled with crystals'	[task_sampler.py: 1136]
+05/25 16:26:17 INFO: [Worker 0] Worker 0 house 2521 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:26:17 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:26:19 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 16:30:44 INFO: [Worker 0] Worker 0 house 2521 episode 0 object objawoodenrod_93e71d2e393c4992a3bf47eb1fc7e3f7_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 16:30:49 INFO: [Worker 0] Batching and saving trajectory data for house_2521: 1 episodes	[pipeline.py: 233]
+05/25 16:30:49 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:30:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:30:52 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2521	[save_utils.py: 703]
+05/25 16:30:52 INFO: [Worker 0] Successfully saved trajectory data for house_2521 in 3.66s (batch: 3.54s, save: 0.12s)	[pipeline.py: 280]
+05/25 16:30:53 WARNING: [Worker 0] No trajectory data to save for house_2521	[pipeline.py: 229]
+05/25 16:30:53 INFO: [Worker 0] Worker 0 completed house 2521: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:30:53 INFO: [Worker 0] Worker 0 starting house 2554 (index 47/112)	[pipeline.py: 473]
+05/25 16:30:53 INFO: [Worker 0] Loaded 1 episodes for house 2554 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_02	[json_eval_runner.py: 278]
+05/25 16:30:53 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 16:30:54 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/836b48b21dcb4842a208c66f106abf18	[json_eval_task_sampler.py: 648]
+05/25 16:30:54 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/cb8931cc79b24d9cacb1d12349594c3b	[json_eval_task_sampler.py: 648]
+05/25 16:30:54 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_14	[json_eval_task_sampler.py: 648]
+05/25 16:30:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2554_ceiling.xml	[task_sampler.py: 797]
+05/25 16:30:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2554, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:30:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:30:56 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects	[json_eval_task_sampler.py: 686]
+05/25 16:30:56 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:30:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:30:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:30:56 INFO: [Worker 0] Sampled task 'Pick up the large curved glossy yellow tooth and place it in or on the transparent glass ashtray with faceted edges'	[task_sampler.py: 1136]
+05/25 16:30:56 INFO: [Worker 0] Worker 0 house 2554 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:30:57 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:30:59 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 16:38:18 INFO: [Worker 0] Worker 0 house 2554 episode 0 object objatooth_5e89ddbfc6454e2e8e09c645574b8932_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 16:38:23 INFO: [Worker 0] Batching and saving trajectory data for house_2554: 1 episodes	[pipeline.py: 233]
+05/25 16:38:23 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:38:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:38:26 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2554	[save_utils.py: 703]
+05/25 16:38:26 INFO: [Worker 0] Successfully saved trajectory data for house_2554 in 3.43s (batch: 3.25s, save: 0.18s)	[pipeline.py: 280]
+05/25 16:38:27 WARNING: [Worker 0] No trajectory data to save for house_2554	[pipeline.py: 229]
+05/25 16:38:27 INFO: [Worker 0] Worker 0 completed house 2554: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:38:27 INFO: [Worker 0] Worker 0 starting house 2617 (index 48/112)	[pipeline.py: 473]
+05/25 16:38:27 INFO: [Worker 0] Loaded 1 episodes for house 2617 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_02	[json_eval_runner.py: 278]
+05/25 16:38:27 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 16:38:28 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/cb8931cc79b24d9cacb1d12349594c3b	[json_eval_task_sampler.py: 648]
+05/25 16:38:28 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2911e8c87d49402c9e3c18277c8b2b2a	[json_eval_task_sampler.py: 648]
+05/25 16:38:28 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/934bd78c490140198db542aee7f765fa	[json_eval_task_sampler.py: 648]
+05/25 16:38:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2617_ceiling.xml	[task_sampler.py: 797]
+05/25 16:38:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2617, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:38:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:38:31 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects	[json_eval_task_sampler.py: 686]
+05/25 16:38:31 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:38:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:38:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:38:31 INFO: [Worker 0] Sampled task 'Pick up the off-white bone shape and place it in or on the rustic dark stone bowl with handle'	[task_sampler.py: 1136]
+05/25 16:38:31 INFO: [Worker 0] Worker 0 house 2617 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:38:31 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:42:50 INFO: [Worker 0] Worker 0 house 2617 episode 0 object objareplicabone_d016a23297944f2db6a6f92625f39bf0_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 16:42:54 INFO: [Worker 0] Batching and saving trajectory data for house_2617: 1 episodes	[pipeline.py: 233]
+05/25 16:42:54 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:42:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:42:57 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2617	[save_utils.py: 703]
+05/25 16:42:57 INFO: [Worker 0] Successfully saved trajectory data for house_2617 in 3.30s (batch: 3.14s, save: 0.16s)	[pipeline.py: 280]
+05/25 16:42:58 WARNING: [Worker 0] No trajectory data to save for house_2617	[pipeline.py: 229]
+05/25 16:42:58 INFO: [Worker 0] Worker 0 completed house 2617: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:42:58 INFO: [Worker 0] Worker 0 starting house 2652 (index 49/112)	[pipeline.py: 473]
+05/25 16:42:58 INFO: [Worker 0] Loaded 1 episodes for house 2652 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_02	[json_eval_runner.py: 278]
+05/25 16:42:58 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 16:42:58 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_13	[json_eval_task_sampler.py: 648]
+05/25 16:42:58 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_11	[json_eval_task_sampler.py: 648]
+05/25 16:42:58 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a2e1b30c4fbb491e9aeff5cccdfc00ec	[json_eval_task_sampler.py: 648]
+05/25 16:43:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2652_ceiling.xml	[task_sampler.py: 797]
+05/25 16:43:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2652, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:43:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:43:00 INFO: [Worker 0] randomize_scene: Setting poses for 26 objects	[json_eval_task_sampler.py: 686]
+05/25 16:43:00 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:43:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:43:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:43:00 INFO: [Worker 0] Sampled task 'Pick up the chocolate bar wrapped and place it in or on the smooth white ceramic serving bowl'	[task_sampler.py: 1136]
+05/25 16:43:00 INFO: [Worker 0] Worker 0 house 2652 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 16:43:00 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:43:01 WARNING: [Worker 0] Could not find object objafossil_f922346cc2844a829e86c72f9161d2ec_1_0_2 in scene	[object_manager.py: 1238]
+05/25 16:43:01 WARNING: [Worker 0] Could not find object soapdispenser_f815ad52d37c217cefc0cafa7edbb112_1_0_2 in scene	[object_manager.py: 1238]
+05/25 16:43:02 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 16:46:38 INFO: [Worker 0] Worker 0 house 2652 episode 0 object objachocolatebar_c8675e9eeb34404ca391f6fa915a104d_2_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 16:46:42 INFO: [Worker 0] Batching and saving trajectory data for house_2652: 1 episodes	[pipeline.py: 233]
+05/25 16:46:42 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 16:46:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 16:46:45 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2652	[save_utils.py: 703]
+05/25 16:46:45 INFO: [Worker 0] Successfully saved trajectory data for house_2652 in 3.12s (batch: 3.00s, save: 0.12s)	[pipeline.py: 280]
+05/25 16:46:46 WARNING: [Worker 0] No trajectory data to save for house_2652	[pipeline.py: 229]
+05/25 16:46:46 INFO: [Worker 0] Worker 0 completed house 2652: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 16:46:46 INFO: [Worker 0] Worker 0 starting house 2696 (index 50/112)	[pipeline.py: 473]
+05/25 16:46:46 INFO: [Worker 0] Loaded 2 episodes for house 2696 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_02	[json_eval_runner.py: 278]
+05/25 16:46:46 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 16:46:49 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/592fc966e1de425cb6ad1982dfe6dda1	[json_eval_task_sampler.py: 648]
+05/25 16:46:49 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e11475635c464216a2213d65c45a319a	[json_eval_task_sampler.py: 648]
+05/25 16:46:49 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/21480103f9f44a52a5ee8bc37fb70bab	[json_eval_task_sampler.py: 648]
+05/25 16:46:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2696_ceiling.xml	[task_sampler.py: 797]
+05/25 16:46:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2696, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:46:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:46:56 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects	[json_eval_task_sampler.py: 686]
+05/25 16:46:56 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:46:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:46:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:46:56 INFO: [Worker 0] Sampled task 'Pick up the polished light brown wooden stick and place it in or on the rustic earthy textured bowl'	[task_sampler.py: 1136]
+05/25 16:46:56 INFO: [Worker 0] Worker 0 house 2696 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 16:46:56 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:46:57 WARNING: [Worker 0] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:46:57 WARNING: [Worker 0] Could not find object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:46:57 WARNING: [Worker 0] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:46:57 WARNING: [Worker 0] Could not find object objatube_0f7ec1dcb01d4943972e3a9168f52e8e_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:46:57 WARNING: [Worker 0] Could not find object objaspraycan_5a12aac362c8474b92544a01f0d8b037_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:58:04 INFO: [Worker 0] Worker 0 house 2696 episode 0 object objawoodenstick_7569e82d732b4a058f4e6fc6aecd479f_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 16:58:09 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 16:58:12 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/592fc966e1de425cb6ad1982dfe6dda1	[json_eval_task_sampler.py: 648]
+05/25 16:58:13 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e11475635c464216a2213d65c45a319a	[json_eval_task_sampler.py: 648]
+05/25 16:58:13 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/21480103f9f44a52a5ee8bc37fb70bab	[json_eval_task_sampler.py: 648]
+05/25 16:58:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2696_ceiling.xml	[task_sampler.py: 797]
+05/25 16:58:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2696, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 16:58:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 16:58:18 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects	[json_eval_task_sampler.py: 686]
+05/25 16:58:18 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 16:58:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 16:58:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 16:58:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 16:58:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 16:58:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 16:58:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 16:58:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 16:58:18 INFO: [Worker 0] Sampled task 'Pick up the white domino piece and place it in or on the rustic brown handmade bowl'	[task_sampler.py: 1136]
+05/25 16:58:18 INFO: [Worker 0] Worker 0 house 2696 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 16:58:18 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 16:58:19 WARNING: [Worker 0] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:58:19 WARNING: [Worker 0] Could not find object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:58:19 WARNING: [Worker 0] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:58:19 WARNING: [Worker 0] Could not find object objatube_0f7ec1dcb01d4943972e3a9168f52e8e_1_0_5 in scene	[object_manager.py: 1238]
+05/25 16:58:19 WARNING: [Worker 0] Could not find object objaspraycan_5a12aac362c8474b92544a01f0d8b037_1_0_5 in scene	[object_manager.py: 1238]
+05/25 17:00:59 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 17:06:42 INFO: [Worker 0] Worker 0 house 2696 episode 1 object objadomino_c97ea56f249340cea90c4f66e84108dc_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 17:06:47 INFO: [Worker 0] Batching and saving trajectory data for house_2696: 2 episodes	[pipeline.py: 233]
+05/25 17:06:47 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:06:50 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:06:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:06:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:06:54 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2696	[save_utils.py: 703]
+05/25 17:06:54 INFO: [Worker 0] Successfully saved trajectory data for house_2696 in 7.19s (batch: 6.89s, save: 0.30s)	[pipeline.py: 280]
+05/25 17:06:55 WARNING: [Worker 0] No trajectory data to save for house_2696	[pipeline.py: 229]
+05/25 17:06:55 INFO: [Worker 0] Worker 0 completed house 2696: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 17:06:55 INFO: [Worker 0] Worker 0 starting house 2716 (index 51/112)	[pipeline.py: 473]
+05/25 17:06:55 INFO: [Worker 0] Loaded 1 episodes for house 2716 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_02	[json_eval_runner.py: 278]
+05/25 17:06:55 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 17:06:55 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a5588c0e88cc47f38d21d6d345f891db	[json_eval_task_sampler.py: 648]
+05/25 17:06:55 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fdfd829fe39049a69f6df2289b29dc7f	[json_eval_task_sampler.py: 648]
+05/25 17:06:55 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/94f253a91bc14f21be83592faf5891ff	[json_eval_task_sampler.py: 648]
+05/25 17:06:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2716_ceiling.xml	[task_sampler.py: 797]
+05/25 17:06:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2716, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:06:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:06:57 INFO: [Worker 0] randomize_scene: Setting poses for 11 objects	[json_eval_task_sampler.py: 686]
+05/25 17:06:57 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:06:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:06:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:06:57 INFO: [Worker 0] Sampled task 'Pick up the black leather spiked collar and place it in or on the rectangular vintage metal storage tin'	[task_sampler.py: 1136]
+05/25 17:06:57 INFO: [Worker 0] Worker 0 house 2716 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:06:57 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:06:58 WARNING: [Worker 0] Could not find object soapdispenser_f815ad52d37c217cefc0cafa7edbb112_1_0_2 in scene	[object_manager.py: 1238]
+05/25 17:06:58 WARNING: [Worker 0] Could not find object objadecorativekey_fa8b7bffc1bb49988337d579e8362ba4_1_0_2 in scene	[object_manager.py: 1238]
+05/25 17:06:58 WARNING: [Worker 0] Could not find object objadecorativetile_a2a086e8016a40419ca5d704b73ace7b_1_0_2 in scene	[object_manager.py: 1238]
+05/25 17:09:42 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 17:13:53 INFO: [Worker 0] Worker 0 house 2716 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_2_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 17:13:58 INFO: [Worker 0] Batching and saving trajectory data for house_2716: 1 episodes	[pipeline.py: 233]
+05/25 17:13:58 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:14:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:14:01 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2716	[save_utils.py: 703]
+05/25 17:14:01 INFO: [Worker 0] Successfully saved trajectory data for house_2716 in 2.77s (batch: 2.63s, save: 0.14s)	[pipeline.py: 280]
+05/25 17:14:01 WARNING: [Worker 0] No trajectory data to save for house_2716	[pipeline.py: 229]
+05/25 17:14:01 INFO: [Worker 0] Worker 0 completed house 2716: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:14:01 INFO: [Worker 0] Worker 0 starting house 2771 (index 52/112)	[pipeline.py: 473]
+05/25 17:14:01 INFO: [Worker 0] Loaded 1 episodes for house 2771 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_02	[json_eval_runner.py: 278]
+05/25 17:14:01 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 17:14:02 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0564efdff76649c48c0c41b49dd6a25e	[json_eval_task_sampler.py: 648]
+05/25 17:14:02 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/561e6757555049fca93f56e479f7cbe4	[json_eval_task_sampler.py: 648]
+05/25 17:14:02 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e9670b35612840bd92354dd8936d3c6a	[json_eval_task_sampler.py: 648]
+05/25 17:14:02 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 17:14:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2771_ceiling.xml	[task_sampler.py: 797]
+05/25 17:14:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2771, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:14:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:14:05 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects	[json_eval_task_sampler.py: 686]
+05/25 17:14:05 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:14:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:14:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:14:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:14:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:14:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:14:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:14:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:14:05 INFO: [Worker 0] Sampled task 'Pick up the small dark rectangular clay tablet and place it in or on the red and black container'	[task_sampler.py: 1136]
+05/25 17:14:05 INFO: [Worker 0] Worker 0 house 2771 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:14:05 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:14:05 WARNING: [Worker 0] Could not find object objavhscassette_85ea6fb195194b85816ed76bb10edfca_1_0_8 in scene	[object_manager.py: 1238]
+05/25 17:14:05 WARNING: [Worker 0] Could not find object objaceilingtile_bf8ace08150545fb92f037f887658c37_1_0_8 in scene	[object_manager.py: 1238]
+05/25 17:20:02 INFO: [Worker 0] Worker 0 house 2771 episode 0 object objaclaytablet_f8842a73663e4374bad2a599b70154de_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 17:20:06 INFO: [Worker 0] Batching and saving trajectory data for house_2771: 1 episodes	[pipeline.py: 233]
+05/25 17:20:06 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:20:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:20:09 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2771	[save_utils.py: 703]
+05/25 17:20:09 INFO: [Worker 0] Successfully saved trajectory data for house_2771 in 2.99s (batch: 2.78s, save: 0.21s)	[pipeline.py: 280]
+05/25 17:20:09 WARNING: [Worker 0] No trajectory data to save for house_2771	[pipeline.py: 229]
+05/25 17:20:09 INFO: [Worker 0] Worker 0 completed house 2771: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:20:09 INFO: [Worker 0] Worker 0 starting house 2826 (index 53/112)	[pipeline.py: 473]
+05/25 17:20:09 INFO: [Worker 0] Loaded 1 episodes for house 2826 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_02	[json_eval_runner.py: 278]
+05/25 17:20:09 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 17:20:15 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/8c419f6d0cbc4580a2e2b9d273969b97	[json_eval_task_sampler.py: 648]
+05/25 17:20:15 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_14	[json_eval_task_sampler.py: 648]
+05/25 17:20:15 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_24	[json_eval_task_sampler.py: 648]
+05/25 17:20:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2826_ceiling.xml	[task_sampler.py: 797]
+05/25 17:20:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2826, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:20:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:20:20 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects	[json_eval_task_sampler.py: 686]
+05/25 17:20:20 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:20:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:20:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:20:20 INFO: [Worker 0] Sampled task 'Pick up the orange rectangular whistle and place it in or on the shallow round wooden bowl with grain'	[task_sampler.py: 1136]
+05/25 17:20:20 INFO: [Worker 0] Worker 0 house 2826 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:20:20 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:28:56 INFO: [Worker 0] Worker 0 house 2826 episode 0 object objawhistle_15185d8f02944be2b1b2389c6aeda2d6_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 17:29:01 INFO: [Worker 0] Batching and saving trajectory data for house_2826: 1 episodes	[pipeline.py: 233]
+05/25 17:29:01 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:29:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:29:04 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2826	[save_utils.py: 703]
+05/25 17:29:04 INFO: [Worker 0] Successfully saved trajectory data for house_2826 in 3.28s (batch: 3.17s, save: 0.11s)	[pipeline.py: 280]
+05/25 17:29:05 WARNING: [Worker 0] No trajectory data to save for house_2826	[pipeline.py: 229]
+05/25 17:29:05 INFO: [Worker 0] Worker 0 completed house 2826: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:29:05 INFO: [Worker 0] Worker 0 starting house 2865 (index 54/112)	[pipeline.py: 473]
+05/25 17:29:05 INFO: [Worker 0] Loaded 1 episodes for house 2865 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_02	[json_eval_runner.py: 278]
+05/25 17:29:05 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 17:29:34 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/937044a40c3845bf88639056005b8a75	[json_eval_task_sampler.py: 648]
+05/25 17:29:34 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b60e63f150034acbabd32dc9ef8563de	[json_eval_task_sampler.py: 648]
+05/25 17:29:34 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/423c9b6a27254a00aa283647a7e9b1ba	[json_eval_task_sampler.py: 648]
+05/25 17:29:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2865_ceiling.xml	[task_sampler.py: 797]
+05/25 17:29:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2865, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:29:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:29:39 INFO: [Worker 0] randomize_scene: Setting poses for 86 objects	[json_eval_task_sampler.py: 686]
+05/25 17:29:39 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:29:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:29:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:29:39 INFO: [Worker 0] Sampled task 'Pick up the dark green handheld scanner and place it in or on the white ceramic bowl with handle and sticks'	[task_sampler.py: 1136]
+05/25 17:29:39 INFO: [Worker 0] Worker 0 house 2865 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:29:39 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:29:39 WARNING: [Worker 0] Could not find object objateacup_027f9a512d2e49a582290e8a47ae68ed_1_0_2 in scene	[object_manager.py: 1238]
+05/25 17:29:39 WARNING: [Worker 0] Could not find object objadentalmodel_a9713e32d7e743faa9e7bec7aff7ed81_1_0_2 in scene	[object_manager.py: 1238]
+05/25 17:31:31 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]
+05/25 17:36:53 INFO: [Worker 0] Worker 0 house 2865 episode 0 object objabarcodescanner_88317b5bfc0b4c14a5004c6d109c815b_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 17:36:57 INFO: [Worker 0] Batching and saving trajectory data for house_2865: 1 episodes	[pipeline.py: 233]
+05/25 17:36:57 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:37:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:37:00 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2865	[save_utils.py: 703]
+05/25 17:37:00 INFO: [Worker 0] Successfully saved trajectory data for house_2865 in 2.90s (batch: 2.75s, save: 0.15s)	[pipeline.py: 280]
+05/25 17:37:01 WARNING: [Worker 0] No trajectory data to save for house_2865	[pipeline.py: 229]
+05/25 17:37:01 INFO: [Worker 0] Worker 0 completed house 2865: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:37:01 INFO: [Worker 0] Worker 0 starting house 2938 (index 55/112)	[pipeline.py: 473]
+05/25 17:37:01 INFO: [Worker 0] Loaded 1 episodes for house 2938 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_02	[json_eval_runner.py: 278]
+05/25 17:37:01 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 17:37:13 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/8c419f6d0cbc4580a2e2b9d273969b97	[json_eval_task_sampler.py: 648]
+05/25 17:37:13 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/12ca824c9c81470d994ceccb4b5a9061	[json_eval_task_sampler.py: 648]
+05/25 17:37:13 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/44f5be7685c1439c85cf9bc36e78578a	[json_eval_task_sampler.py: 648]
+05/25 17:37:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2938_ceiling.xml	[task_sampler.py: 797]
+05/25 17:37:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2938, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:37:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:37:16 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects	[json_eval_task_sampler.py: 686]
+05/25 17:37:16 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:37:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:37:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:37:16 INFO: [Worker 0] Sampled task 'Pick up the green shoe last with markings and place it in or on the colorful pixelated ramen bowl'	[task_sampler.py: 1136]
+05/25 17:37:16 INFO: [Worker 0] Worker 0 house 2938 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:37:16 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:37:17 WARNING: [Worker 0] Could not find object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_5 in scene	[object_manager.py: 1238]
+05/25 17:37:17 WARNING: [Worker 0] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene	[object_manager.py: 1238]
+05/25 17:37:17 WARNING: [Worker 0] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene	[object_manager.py: 1238]
+05/25 17:39:47 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 17:45:47 INFO: [Worker 0] Worker 0 house 2938 episode 0 object objashoelast_f7703bd282eb495ea80998a1ff53ea50_2_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 17:45:52 INFO: [Worker 0] Batching and saving trajectory data for house_2938: 1 episodes	[pipeline.py: 233]
+05/25 17:45:52 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 17:45:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 17:45:55 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2938	[save_utils.py: 703]
+05/25 17:45:55 INFO: [Worker 0] Successfully saved trajectory data for house_2938 in 3.17s (batch: 3.01s, save: 0.16s)	[pipeline.py: 280]
+05/25 17:45:56 WARNING: [Worker 0] No trajectory data to save for house_2938	[pipeline.py: 229]
+05/25 17:45:56 INFO: [Worker 0] Worker 0 completed house 2938: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 17:45:56 INFO: [Worker 0] Worker 0 starting house 3014 (index 56/112)	[pipeline.py: 473]
+05/25 17:45:56 INFO: [Worker 0] Loaded 1 episodes for house 3014 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_02	[json_eval_runner.py: 278]
+05/25 17:45:56 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 17:46:15 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/561e6757555049fca93f56e479f7cbe4	[json_eval_task_sampler.py: 648]
+05/25 17:46:15 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/48272cae86364aa0995e70658330c0a9	[json_eval_task_sampler.py: 648]
+05/25 17:46:15 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b63ca5b519ba4920a6288da00d9224bd	[json_eval_task_sampler.py: 648]
+05/25 17:46:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3014_ceiling.xml	[task_sampler.py: 797]
+05/25 17:46:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3014, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 17:46:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 17:46:19 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects	[json_eval_task_sampler.py: 686]
+05/25 17:46:19 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 17:46:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 17:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 17:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 17:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 17:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 17:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 17:46:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 17:46:19 INFO: [Worker 0] Sampled task 'Pick up the brush with bristles and place it in or on the pink box'	[task_sampler.py: 1136]
+05/25 17:46:19 INFO: [Worker 0] Worker 0 house 3014 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 17:46:19 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 17:46:19 WARNING: [Worker 0] Could not find object objadeskcalendar_272ecf3874af4395b264b86ae78fd827_1_0_4 in scene	[object_manager.py: 1238]
+05/25 17:49:00 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 18:09:44 INFO: [Worker 0] Worker 0 house 3014 episode 0 object objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 18:09:48 INFO: [Worker 0] Batching and saving trajectory data for house_3014: 1 episodes	[pipeline.py: 233]
+05/25 18:09:48 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:09:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:09:51 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3014	[save_utils.py: 703]
+05/25 18:09:51 INFO: [Worker 0] Successfully saved trajectory data for house_3014 in 3.02s (batch: 2.89s, save: 0.13s)	[pipeline.py: 280]
+05/25 18:09:52 WARNING: [Worker 0] No trajectory data to save for house_3014	[pipeline.py: 229]
+05/25 18:09:52 INFO: [Worker 0] Worker 0 completed house 3014: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 18:09:52 INFO: [Worker 0] Worker 0 starting house 3031 (index 57/112)	[pipeline.py: 473]
+05/25 18:09:52 INFO: [Worker 0] Loaded 2 episodes for house 3031 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_02	[json_eval_runner.py: 278]
+05/25 18:09:52 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 18:10:15 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4	[json_eval_task_sampler.py: 648]
+05/25 18:10:15 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b4058303001a4878bbe5c3f248dedd78	[json_eval_task_sampler.py: 648]
+05/25 18:10:15 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/592fc966e1de425cb6ad1982dfe6dda1	[json_eval_task_sampler.py: 648]
+05/25 18:10:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3031_ceiling.xml	[task_sampler.py: 797]
+05/25 18:10:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3031, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 18:10:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 18:10:21 INFO: [Worker 0] randomize_scene: Setting poses for 108 objects	[json_eval_task_sampler.py: 686]
+05/25 18:10:21 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 18:10:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 18:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 18:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 18:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 18:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 18:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 18:10:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 18:10:21 INFO: [Worker 0] Sampled task 'Pick up the plate with bird motif and place it in or on the simple round gray ceramic bowl'	[task_sampler.py: 1136]
+05/25 18:10:21 INFO: [Worker 0] Worker 0 house 3031 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 18:10:22 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:23:06 INFO: [Worker 0] Worker 0 house 3031 episode 0 object objadecorativeplate_2a78fefe6fbf40fc8b99aef97ab12b4b_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 18:23:13 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 18:23:19 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4	[json_eval_task_sampler.py: 648]
+05/25 18:23:19 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b4058303001a4878bbe5c3f248dedd78	[json_eval_task_sampler.py: 648]
+05/25 18:23:19 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/592fc966e1de425cb6ad1982dfe6dda1	[json_eval_task_sampler.py: 648]
+05/25 18:23:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3031_ceiling.xml	[task_sampler.py: 797]
+05/25 18:23:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3031, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 18:23:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 18:23:30 INFO: [Worker 0] randomize_scene: Setting poses for 108 objects	[json_eval_task_sampler.py: 686]
+05/25 18:23:30 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 18:23:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 18:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 18:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 18:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 18:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 18:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 18:23:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 18:23:30 INFO: [Worker 0] Sampled task 'Pick up the tan binocular night vision goggles and place it in or on the rectangular transparent box with sand'	[task_sampler.py: 1136]
+05/25 18:23:30 INFO: [Worker 0] Worker 0 house 3031 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 18:23:30 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:32:22 INFO: [Worker 0] Worker 0 house 3031 episode 1 object objanightvisiongoggles_632dac677c02447abf205f503c50613e_2_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 18:32:26 INFO: [Worker 0] Batching and saving trajectory data for house_3031: 2 episodes	[pipeline.py: 233]
+05/25 18:32:26 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:32:29 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:32:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:32:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:32:32 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3031	[save_utils.py: 703]
+05/25 18:32:32 INFO: [Worker 0] Successfully saved trajectory data for house_3031 in 6.18s (batch: 5.91s, save: 0.27s)	[pipeline.py: 280]
+05/25 18:32:33 WARNING: [Worker 0] No trajectory data to save for house_3031	[pipeline.py: 229]
+05/25 18:32:33 INFO: [Worker 0] Worker 0 completed house 3031: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 18:32:33 INFO: [Worker 0] Worker 0 starting house 3092 (index 58/112)	[pipeline.py: 473]
+05/25 18:32:33 INFO: [Worker 0] Loaded 1 episodes for house 3092 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_02	[json_eval_runner.py: 278]
+05/25 18:32:33 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 18:32:55 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_12	[json_eval_task_sampler.py: 648]
+05/25 18:32:55 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/21480103f9f44a52a5ee8bc37fb70bab	[json_eval_task_sampler.py: 648]
+05/25 18:32:56 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_7	[json_eval_task_sampler.py: 648]
+05/25 18:32:56 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 18:33:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3092_ceiling.xml	[task_sampler.py: 797]
+05/25 18:33:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3092, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 18:33:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 18:33:00 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects	[json_eval_task_sampler.py: 686]
+05/25 18:33:00 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 18:33:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 18:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 18:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 18:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 18:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 18:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 18:33:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 18:33:00 INFO: [Worker 0] Sampled task 'Pick up the purple onion and place it in or on the rustic brown bowl'	[task_sampler.py: 1136]
+05/25 18:33:00 INFO: [Worker 0] Worker 0 house 3092 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 18:33:01 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:33:01 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene	[object_manager.py: 1238]
+05/25 18:35:20 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 18:42:47 INFO: [Worker 0] Worker 0 house 3092 episode 0 object objaonion_3de79af9c89a441881daba64c884bbbf_2_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 18:42:52 INFO: [Worker 0] Batching and saving trajectory data for house_3092: 1 episodes	[pipeline.py: 233]
+05/25 18:42:52 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:42:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:42:57 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3092	[save_utils.py: 703]
+05/25 18:42:57 INFO: [Worker 0] Successfully saved trajectory data for house_3092 in 4.59s (batch: 4.43s, save: 0.16s)	[pipeline.py: 280]
+05/25 18:42:58 WARNING: [Worker 0] No trajectory data to save for house_3092	[pipeline.py: 229]
+05/25 18:42:58 INFO: [Worker 0] Worker 0 completed house 3092: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 18:42:58 INFO: [Worker 0] Worker 0 starting house 3135 (index 59/112)	[pipeline.py: 473]
+05/25 18:42:58 INFO: [Worker 0] Loaded 1 episodes for house 3135 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_02	[json_eval_runner.py: 278]
+05/25 18:42:58 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 18:43:14 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d8bcf6509a5d40378f2baec03bf551a5	[json_eval_task_sampler.py: 648]
+05/25 18:43:14 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0cb14e8a04de4c39ac8714a98fba9883	[json_eval_task_sampler.py: 648]
+05/25 18:43:14 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0aab5f2a6f744c13bffef0fccf53c0e0	[json_eval_task_sampler.py: 648]
+05/25 18:43:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3135_ceiling.xml	[task_sampler.py: 797]
+05/25 18:43:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3135, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 18:43:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 18:43:20 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects	[json_eval_task_sampler.py: 686]
+05/25 18:43:20 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 18:43:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 18:43:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 18:43:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 18:43:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 18:43:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 18:43:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 18:43:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 18:43:20 INFO: [Worker 0] Sampled task 'Pick up the bronze decorative medallion and place it in or on the small wooden box with latch'	[task_sampler.py: 1136]
+05/25 18:43:20 INFO: [Worker 0] Worker 0 house 3135 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 18:43:20 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:46:56 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 18:52:39 INFO: [Worker 0] Worker 0 house 3135 episode 0 object objamedallion_de9cffc6f2d740bf822965b56e65eb8d_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 18:52:46 INFO: [Worker 0] Batching and saving trajectory data for house_3135: 1 episodes	[pipeline.py: 233]
+05/25 18:52:46 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 18:52:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 18:52:51 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3135	[save_utils.py: 703]
+05/25 18:52:51 INFO: [Worker 0] Successfully saved trajectory data for house_3135 in 5.10s (batch: 4.92s, save: 0.18s)	[pipeline.py: 280]
+05/25 18:52:52 WARNING: [Worker 0] No trajectory data to save for house_3135	[pipeline.py: 229]
+05/25 18:52:52 INFO: [Worker 0] Worker 0 completed house 3135: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 18:52:52 INFO: [Worker 0] Worker 0 starting house 3211 (index 60/112)	[pipeline.py: 473]
+05/25 18:52:52 INFO: [Worker 0] Loaded 1 episodes for house 3211 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_02	[json_eval_runner.py: 278]
+05/25 18:52:52 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 18:52:54 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_22	[json_eval_task_sampler.py: 648]
+05/25 18:52:54 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0	[json_eval_task_sampler.py: 648]
+05/25 18:52:54 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_21	[json_eval_task_sampler.py: 648]
+05/25 18:52:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3211_ceiling.xml	[task_sampler.py: 797]
+05/25 18:52:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3211, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 18:52:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 18:52:57 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects	[json_eval_task_sampler.py: 686]
+05/25 18:52:57 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 18:52:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 18:52:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 18:52:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 18:52:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 18:52:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 18:52:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 18:52:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 18:52:57 INFO: [Worker 0] Sampled task 'Pick up the curved green broccoli stalk and place it in or on the shallow beige ceramic bowl'	[task_sampler.py: 1136]
+05/25 18:52:57 INFO: [Worker 0] Worker 0 house 3211 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 18:52:58 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 18:56:55 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 19:03:18 INFO: [Worker 0] Worker 0 house 3211 episode 0 object objavegetable_6bafea3c607848f78a42239755eac8ee_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 19:03:23 INFO: [Worker 0] Batching and saving trajectory data for house_3211: 1 episodes	[pipeline.py: 233]
+05/25 19:03:23 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:03:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:03:27 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3211	[save_utils.py: 703]
+05/25 19:03:27 INFO: [Worker 0] Successfully saved trajectory data for house_3211 in 3.58s (batch: 3.44s, save: 0.15s)	[pipeline.py: 280]
+05/25 19:03:28 WARNING: [Worker 0] No trajectory data to save for house_3211	[pipeline.py: 229]
+05/25 19:03:28 INFO: [Worker 0] Worker 0 completed house 3211: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:03:28 INFO: [Worker 0] Worker 0 starting house 3275 (index 61/112)	[pipeline.py: 473]
+05/25 19:03:28 INFO: [Worker 0] Loaded 1 episodes for house 3275 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_02	[json_eval_runner.py: 278]
+05/25 19:03:28 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 19:03:34 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_11	[json_eval_task_sampler.py: 648]
+05/25 19:03:34 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0564efdff76649c48c0c41b49dd6a25e	[json_eval_task_sampler.py: 648]
+05/25 19:03:34 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9e167f4b5fcd446e8ff3c4ca5b257286	[json_eval_task_sampler.py: 648]
+05/25 19:03:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3275_ceiling.xml	[task_sampler.py: 797]
+05/25 19:03:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3275, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:03:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:03:40 INFO: [Worker 0] randomize_scene: Setting poses for 95 objects	[json_eval_task_sampler.py: 686]
+05/25 19:03:40 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:03:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:03:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:03:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:03:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:03:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:03:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:03:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:03:40 INFO: [Worker 0] Sampled task 'Pick up the brown and white chihuahua ceramic sculpture and place it in or on the red and black container'	[task_sampler.py: 1136]
+05/25 19:03:40 INFO: [Worker 0] Worker 0 house 3275 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:03:40 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:03:41 WARNING: [Worker 0] Could not find object objaankleboot_516145ceb6df4f3b81bd1aaf62f6a857_1_0_2 in scene	[object_manager.py: 1238]
+05/25 19:03:41 WARNING: [Worker 0] Could not find object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_2 in scene	[object_manager.py: 1238]
+05/25 19:03:41 WARNING: [Worker 0] Could not find object objaindoorsoccershoe_cfa41567512a4ab78cd3eca7b6a58adf_1_0_9 in scene	[object_manager.py: 1238]
+05/25 19:03:41 WARNING: [Worker 0] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_9 in scene	[object_manager.py: 1238]
+05/25 19:11:42 INFO: [Worker 0] Worker 0 house 3275 episode 0 object objaceramicsculpture_d7176802cbe74b7eb64043e360766e80_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 19:11:45 INFO: [Worker 0] Batching and saving trajectory data for house_3275: 1 episodes	[pipeline.py: 233]
+05/25 19:11:45 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:11:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:11:48 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3275	[save_utils.py: 703]
+05/25 19:11:48 INFO: [Worker 0] Successfully saved trajectory data for house_3275 in 2.91s (batch: 2.80s, save: 0.11s)	[pipeline.py: 280]
+05/25 19:11:49 WARNING: [Worker 0] No trajectory data to save for house_3275	[pipeline.py: 229]
+05/25 19:11:49 INFO: [Worker 0] Worker 0 completed house 3275: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:11:49 INFO: [Worker 0] Worker 0 starting house 3306 (index 62/112)	[pipeline.py: 473]
+05/25 19:11:49 INFO: [Worker 0] Loaded 1 episodes for house 3306 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_02	[json_eval_runner.py: 278]
+05/25 19:11:49 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 19:11:49 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/44f5be7685c1439c85cf9bc36e78578a	[json_eval_task_sampler.py: 648]
+05/25 19:11:49 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/cb8931cc79b24d9cacb1d12349594c3b	[json_eval_task_sampler.py: 648]
+05/25 19:11:49 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/4c75946736424e5397f4eadd336e0bf1	[json_eval_task_sampler.py: 648]
+05/25 19:11:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3306_ceiling.xml	[task_sampler.py: 797]
+05/25 19:11:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3306, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:11:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:11:50 INFO: [Worker 0] randomize_scene: Setting poses for 14 objects	[json_eval_task_sampler.py: 686]
+05/25 19:11:50 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:11:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:11:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:11:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:11:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:11:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:11:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:11:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:11:50 INFO: [Worker 0] Sampled task 'Pick up the black gaming mouse and place it in or on the earth map bowl'	[task_sampler.py: 1136]
+05/25 19:11:50 INFO: [Worker 0] Worker 0 house 3306 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:11:50 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:14:12 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 19:17:31 INFO: [Worker 0] Worker 0 house 3306 episode 0 object objagamingmouse_316a0da5fb1b49af92a51a6baf719098_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 19:17:36 INFO: [Worker 0] Batching and saving trajectory data for house_3306: 1 episodes	[pipeline.py: 233]
+05/25 19:17:36 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:17:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:17:40 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3306	[save_utils.py: 703]
+05/25 19:17:40 INFO: [Worker 0] Successfully saved trajectory data for house_3306 in 3.77s (batch: 3.59s, save: 0.19s)	[pipeline.py: 280]
+05/25 19:17:40 WARNING: [Worker 0] No trajectory data to save for house_3306	[pipeline.py: 229]
+05/25 19:17:40 INFO: [Worker 0] Worker 0 completed house 3306: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:17:40 INFO: [Worker 0] Worker 0 starting house 3327 (index 63/112)	[pipeline.py: 473]
+05/25 19:17:40 INFO: [Worker 0] Loaded 1 episodes for house 3327 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_02	[json_eval_runner.py: 278]
+05/25 19:17:40 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]
+05/25 19:17:46 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/53c885e05492439cace4cc626fec00cc	[json_eval_task_sampler.py: 648]
+05/25 19:17:46 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0b0079b036c845139d5823255a34da7a	[json_eval_task_sampler.py: 648]
+05/25 19:17:46 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0e668fe03f564822ac2c97212f8b420a	[json_eval_task_sampler.py: 648]
+05/25 19:17:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3327_ceiling.xml	[task_sampler.py: 797]
+05/25 19:17:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3327, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:17:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:17:49 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects	[json_eval_task_sampler.py: 686]
+05/25 19:17:49 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:17:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:17:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:17:49 INFO: [Worker 0] Sampled task 'Pick up the metal knife with black handles and place it in or on the matte brown ceramic bowl'	[task_sampler.py: 1136]
+05/25 19:17:49 INFO: [Worker 0] Worker 0 house 3327 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:17:49 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:19:37 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 19:25:33 INFO: [Worker 0] Worker 0 house 3327 episode 0 object objabutterflyknife_f079411ce15345d28f05b8aa0676425d_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 19:25:39 INFO: [Worker 0] Batching and saving trajectory data for house_3327: 1 episodes	[pipeline.py: 233]
+05/25 19:25:39 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:25:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:25:43 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3327	[save_utils.py: 703]
+05/25 19:25:43 INFO: [Worker 0] Successfully saved trajectory data for house_3327 in 4.02s (batch: 3.86s, save: 0.16s)	[pipeline.py: 280]
+05/25 19:25:44 WARNING: [Worker 0] No trajectory data to save for house_3327	[pipeline.py: 229]
+05/25 19:25:44 INFO: [Worker 0] Worker 0 completed house 3327: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:25:44 INFO: [Worker 0] Worker 0 starting house 3368 (index 64/112)	[pipeline.py: 473]
+05/25 19:25:44 INFO: [Worker 0] Loaded 1 episodes for house 3368 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_02	[json_eval_runner.py: 278]
+05/25 19:25:44 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]
+05/25 19:25:56 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ac3628478f6c4042a16e77d6753fa413	[json_eval_task_sampler.py: 648]
+05/25 19:25:56 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_28	[json_eval_task_sampler.py: 648]
+05/25 19:25:56 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_26	[json_eval_task_sampler.py: 648]
+05/25 19:25:56 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/25 19:26:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3368_ceiling.xml	[task_sampler.py: 797]
+05/25 19:26:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3368, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:26:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:26:02 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects	[json_eval_task_sampler.py: 686]
+05/25 19:26:02 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:26:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:26:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:26:02 INFO: [Worker 0] Sampled task 'Pick up the rectangular wooden luggage tag with engraving and place it in or on the gray bowl'	[task_sampler.py: 1136]
+05/25 19:26:02 INFO: [Worker 0] Worker 0 house 3368 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:26:02 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:26:02 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene	[object_manager.py: 1238]
+05/25 19:28:30 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 19:33:05 INFO: [Worker 0] Worker 0 house 3368 episode 0 object objaluggagetag_8564a22483104f8aac76a02c12db952a_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/25 19:33:09 INFO: [Worker 0] Batching and saving trajectory data for house_3368: 1 episodes	[pipeline.py: 233]
+05/25 19:33:09 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:33:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:33:12 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3368	[save_utils.py: 703]
+05/25 19:33:12 INFO: [Worker 0] Successfully saved trajectory data for house_3368 in 3.00s (batch: 2.82s, save: 0.19s)	[pipeline.py: 280]
+05/25 19:33:12 WARNING: [Worker 0] No trajectory data to save for house_3368	[pipeline.py: 229]
+05/25 19:33:12 INFO: [Worker 0] Worker 0 completed house 3368: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:33:12 INFO: [Worker 0] Worker 0 starting house 3431 (index 65/112)	[pipeline.py: 473]
+05/25 19:33:12 INFO: [Worker 0] Loaded 1 episodes for house 3431 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_02	[json_eval_runner.py: 278]
+05/25 19:33:12 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 19:33:13 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/2911e8c87d49402c9e3c18277c8b2b2a	[json_eval_task_sampler.py: 648]
+05/25 19:33:13 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d02ed62181d942fc9a1527b49bc67b17	[json_eval_task_sampler.py: 648]
+05/25 19:33:13 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/292913530b1c41709ffc8685fbb9d55a	[json_eval_task_sampler.py: 648]
+05/25 19:33:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3431_ceiling.xml	[task_sampler.py: 797]
+05/25 19:33:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3431, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:33:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:33:17 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects	[json_eval_task_sampler.py: 686]
+05/25 19:33:17 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:33:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:33:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:33:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:33:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:33:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:33:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:33:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:33:17 INFO: [Worker 0] Sampled task 'Pick up the card with pink bow and place it in or on the rectangular ornate red box'	[task_sampler.py: 1136]
+05/25 19:33:17 INFO: [Worker 0] Worker 0 house 3431 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:33:17 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:36:15 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 19:40:33 INFO: [Worker 0] Worker 0 house 3431 episode 0 object objadecorativecard_65c3c59dcda94798b4f95a1817325f33_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 19:40:37 INFO: [Worker 0] Batching and saving trajectory data for house_3431: 1 episodes	[pipeline.py: 233]
+05/25 19:40:37 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:40:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:40:40 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3431	[save_utils.py: 703]
+05/25 19:40:40 INFO: [Worker 0] Successfully saved trajectory data for house_3431 in 3.38s (batch: 3.22s, save: 0.16s)	[pipeline.py: 280]
+05/25 19:40:41 WARNING: [Worker 0] No trajectory data to save for house_3431	[pipeline.py: 229]
+05/25 19:40:41 INFO: [Worker 0] Worker 0 completed house 3431: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:40:41 INFO: [Worker 0] Worker 0 starting house 3479 (index 66/112)	[pipeline.py: 473]
+05/25 19:40:41 INFO: [Worker 0] Loaded 1 episodes for house 3479 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_02	[json_eval_runner.py: 278]
+05/25 19:40:41 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]
+05/25 19:41:01 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/54c702aeeb634157ab6bfd6c2f7a78c2	[json_eval_task_sampler.py: 648]
+05/25 19:41:01 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/576495fa2f9749adaca89aa604aa68b0	[json_eval_task_sampler.py: 648]
+05/25 19:41:01 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/cb8931cc79b24d9cacb1d12349594c3b	[json_eval_task_sampler.py: 648]
+05/25 19:41:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3479_ceiling.xml	[task_sampler.py: 797]
+05/25 19:41:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3479, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:41:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:41:07 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects	[json_eval_task_sampler.py: 686]
+05/25 19:41:07 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:41:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:41:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:41:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:41:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:41:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:41:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:41:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:41:07 INFO: [Worker 0] Sampled task 'Pick up the decorativetape and place it in or on the round light ashtray'	[task_sampler.py: 1136]
+05/25 19:41:07 INFO: [Worker 0] Worker 0 house 3479 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:41:07 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:41:08 WARNING: [Worker 0] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_5 in scene	[object_manager.py: 1238]
+05/25 19:41:08 WARNING: [Worker 0] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene	[object_manager.py: 1238]
+05/25 19:44:09 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 19:51:12 INFO: [Worker 0] Worker 0 house 3479 episode 0 object objadecorativetape_a6bece29c668474c8a01a368941f0e9a_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/25 19:51:18 INFO: [Worker 0] Batching and saving trajectory data for house_3479: 1 episodes	[pipeline.py: 233]
+05/25 19:51:18 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:51:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:51:22 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3479	[save_utils.py: 703]
+05/25 19:51:22 INFO: [Worker 0] Successfully saved trajectory data for house_3479 in 4.31s (batch: 4.12s, save: 0.20s)	[pipeline.py: 280]
+05/25 19:51:23 WARNING: [Worker 0] No trajectory data to save for house_3479	[pipeline.py: 229]
+05/25 19:51:23 INFO: [Worker 0] Worker 0 completed house 3479: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:51:23 INFO: [Worker 0] Worker 0 starting house 3521 (index 67/112)	[pipeline.py: 473]
+05/25 19:51:23 INFO: [Worker 0] Loaded 1 episodes for house 3521 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_02	[json_eval_runner.py: 278]
+05/25 19:51:23 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 19:51:41 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e5c6cae2c71b45fe8fee9657af246c2c	[json_eval_task_sampler.py: 648]
+05/25 19:51:41 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_7	[json_eval_task_sampler.py: 648]
+05/25 19:51:41 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bf83213efac34b3cb2ad6ac5ddaf05d9	[json_eval_task_sampler.py: 648]
+05/25 19:51:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3521_ceiling.xml	[task_sampler.py: 797]
+05/25 19:51:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3521, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:51:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:51:47 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects	[json_eval_task_sampler.py: 686]
+05/25 19:51:47 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:51:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:51:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:51:47 INFO: [Worker 0] Sampled task 'Pick up the spanner and place it in or on the white bowl blue'	[task_sampler.py: 1136]
+05/25 19:51:47 INFO: [Worker 0] Worker 0 house 3521 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 19:51:47 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 19:54:24 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 19:59:13 INFO: [Worker 0] Worker 0 house 3521 episode 0 object objawrench_fa277ef6ccd243108d501b0f0aa8fd3b_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 19:59:17 INFO: [Worker 0] Batching and saving trajectory data for house_3521: 1 episodes	[pipeline.py: 233]
+05/25 19:59:17 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 19:59:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 19:59:20 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3521	[save_utils.py: 703]
+05/25 19:59:20 INFO: [Worker 0] Successfully saved trajectory data for house_3521 in 3.10s (batch: 2.98s, save: 0.13s)	[pipeline.py: 280]
+05/25 19:59:21 WARNING: [Worker 0] No trajectory data to save for house_3521	[pipeline.py: 229]
+05/25 19:59:21 INFO: [Worker 0] Worker 0 completed house 3521: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 19:59:21 INFO: [Worker 0] Worker 0 starting house 3530 (index 68/112)	[pipeline.py: 473]
+05/25 19:59:21 INFO: [Worker 0] Loaded 2 episodes for house 3530 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_02	[json_eval_runner.py: 278]
+05/25 19:59:21 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 19:59:26 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_24	[json_eval_task_sampler.py: 648]
+05/25 19:59:26 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/56dccb62700a4c04b42646e060c087f5	[json_eval_task_sampler.py: 648]
+05/25 19:59:26 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/8c419f6d0cbc4580a2e2b9d273969b97	[json_eval_task_sampler.py: 648]
+05/25 19:59:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3530_ceiling.xml	[task_sampler.py: 797]
+05/25 19:59:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3530, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 19:59:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 19:59:30 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects	[json_eval_task_sampler.py: 686]
+05/25 19:59:30 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 19:59:30 INFO: [Worker 0] Sampled task 'Pick up the adjustable sleek metallic hinge and place it in or on the round wooden bowl'	[task_sampler.py: 1136]
+05/25 19:59:30 INFO: [Worker 0] Worker 0 house 3530 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 19:59:30 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:07:04 INFO: [Worker 0] Worker 0 house 3530 episode 0 object objacabinethinge_7c01ff16582a44b99ff7bc6bd4f43eea_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 20:07:08 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 20:07:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_24	[json_eval_task_sampler.py: 648]
+05/25 20:07:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/56dccb62700a4c04b42646e060c087f5	[json_eval_task_sampler.py: 648]
+05/25 20:07:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/8c419f6d0cbc4580a2e2b9d273969b97	[json_eval_task_sampler.py: 648]
+05/25 20:07:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3530_ceiling.xml	[task_sampler.py: 797]
+05/25 20:07:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3530, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:07:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:07:15 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects	[json_eval_task_sampler.py: 686]
+05/25 20:07:15 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:07:15 INFO: [Worker 0] Sampled task 'Pick up the compact black fabric wallet with slots and place it in or on the shallow round wooden bowl with grain'	[task_sampler.py: 1136]
+05/25 20:07:15 INFO: [Worker 0] Worker 0 house 3530 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/25 20:07:15 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:11:12 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 20:20:28 INFO: [Worker 0] Worker 0 house 3530 episode 1 object objawallet_d0f27a597d064d9098d33d43de223fdf_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 20:20:33 INFO: [Worker 0] Batching and saving trajectory data for house_3530: 2 episodes	[pipeline.py: 233]
+05/25 20:20:33 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:20:37 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:20:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:20:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:20:41 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3530	[save_utils.py: 703]
+05/25 20:20:41 INFO: [Worker 0] Successfully saved trajectory data for house_3530 in 8.07s (batch: 7.73s, save: 0.34s)	[pipeline.py: 280]
+05/25 20:20:41 WARNING: [Worker 0] No trajectory data to save for house_3530	[pipeline.py: 229]
+05/25 20:20:41 INFO: [Worker 0] Worker 0 completed house 3530: 0/2 successful episodes	[pipeline.py: 1243]
+05/25 20:20:41 INFO: [Worker 0] Worker 0 starting house 3547 (index 69/112)	[pipeline.py: 473]
+05/25 20:20:41 INFO: [Worker 0] Loaded 1 episodes for house 3547 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_02	[json_eval_runner.py: 278]
+05/25 20:20:41 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]
+05/25 20:21:04 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/4b5c2f816e814756960ac3be616fd29d	[json_eval_task_sampler.py: 648]
+05/25 20:21:04 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1e4b75a1bb484c42b99fcd3ddf23ae9f	[json_eval_task_sampler.py: 648]
+05/25 20:21:04 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d8bcf6509a5d40378f2baec03bf551a5	[json_eval_task_sampler.py: 648]
+05/25 20:21:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3547_ceiling.xml	[task_sampler.py: 797]
+05/25 20:21:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3547, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:21:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:21:07 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects	[json_eval_task_sampler.py: 686]
+05/25 20:21:07 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:21:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:21:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:21:07 INFO: [Worker 0] Sampled task 'Pick up the square carved stone tile with design and place it in or on the small blue decorative ceramic bottle'	[task_sampler.py: 1136]
+05/25 20:21:07 INFO: [Worker 0] Worker 0 house 3547 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:21:07 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:26:54 INFO: [Worker 0] Worker 0 house 3547 episode 0 object objadecorativetile_a2a086e8016a40419ca5d704b73ace7b_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/25 20:26:58 INFO: [Worker 0] Batching and saving trajectory data for house_3547: 1 episodes	[pipeline.py: 233]
+05/25 20:26:58 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:27:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:27:02 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3547	[save_utils.py: 703]
+05/25 20:27:02 INFO: [Worker 0] Successfully saved trajectory data for house_3547 in 3.20s (batch: 3.03s, save: 0.18s)	[pipeline.py: 280]
+05/25 20:27:02 WARNING: [Worker 0] No trajectory data to save for house_3547	[pipeline.py: 229]
+05/25 20:27:02 INFO: [Worker 0] Worker 0 completed house 3547: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:27:02 INFO: [Worker 0] Worker 0 starting house 3597 (index 70/112)	[pipeline.py: 473]
+05/25 20:27:02 INFO: [Worker 0] Loaded 1 episodes for house 3597 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_02	[json_eval_runner.py: 278]
+05/25 20:27:02 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]
+05/25 20:27:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/65e992e1326c4615bdada49b02005e16	[json_eval_task_sampler.py: 648]
+05/25 20:27:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/372c4540cbe148b9bddcbbf1761b5e81	[json_eval_task_sampler.py: 648]
+05/25 20:27:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_7	[json_eval_task_sampler.py: 648]
+05/25 20:27:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3597_ceiling.xml	[task_sampler.py: 797]
+05/25 20:27:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3597, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:27:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:27:09 INFO: [Worker 0] randomize_scene: Setting poses for 11 objects	[json_eval_task_sampler.py: 686]
+05/25 20:27:09 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:27:09 INFO: [Worker 0] Sampled task 'Pick up the triangular colorful patch with eye design and place it in or on the rustic brown coconut bowl'	[task_sampler.py: 1136]
+05/25 20:27:09 INFO: [Worker 0] Worker 0 house 3597 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:27:09 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:28:48 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 20:31:39 INFO: [Worker 0] Worker 0 house 3597 episode 0 object objapatch_c8c39f135f324c188448cfa37d63b1a4_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 20:31:43 INFO: [Worker 0] Batching and saving trajectory data for house_3597: 1 episodes	[pipeline.py: 233]
+05/25 20:31:43 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:31:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:31:46 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3597	[save_utils.py: 703]
+05/25 20:31:46 INFO: [Worker 0] Successfully saved trajectory data for house_3597 in 3.29s (batch: 3.15s, save: 0.13s)	[pipeline.py: 280]
+05/25 20:31:47 WARNING: [Worker 0] No trajectory data to save for house_3597	[pipeline.py: 229]
+05/25 20:31:47 INFO: [Worker 0] Worker 0 completed house 3597: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:31:47 INFO: [Worker 0] Worker 0 starting house 3651 (index 71/112)	[pipeline.py: 473]
+05/25 20:31:47 INFO: [Worker 0] Loaded 1 episodes for house 3651 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_02	[json_eval_runner.py: 278]
+05/25 20:31:47 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 20:31:49 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_19	[json_eval_task_sampler.py: 648]
+05/25 20:31:49 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/f486de07c6f347588bcd3d22456f328d	[json_eval_task_sampler.py: 648]
+05/25 20:31:49 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/63211cbfb48044bcbdbbd30a3aa3bb75	[json_eval_task_sampler.py: 648]
+05/25 20:31:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3651_ceiling.xml	[task_sampler.py: 797]
+05/25 20:31:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3651, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:31:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:31:52 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects	[json_eval_task_sampler.py: 686]
+05/25 20:31:52 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:31:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:31:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:31:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:31:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:31:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:31:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:31:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:31:52 INFO: [Worker 0] Sampled task 'Pick up the black instant camera with stripe and place it in or on the white tray compartments'	[task_sampler.py: 1136]
+05/25 20:31:52 INFO: [Worker 0] Worker 0 house 3651 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:31:52 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:31:53 WARNING: [Worker 0] Could not find object objawoodenplank_dc77fe25b17e4f89ae7b048e1a3656fe_1_0_7 in scene	[object_manager.py: 1238]
+05/25 20:34:06 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 20:38:33 INFO: [Worker 0] Worker 0 house 3651 episode 0 object objainstantcamera_89e655a7ef994d5c8360766d59b5921f_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 20:38:38 INFO: [Worker 0] Batching and saving trajectory data for house_3651: 1 episodes	[pipeline.py: 233]
+05/25 20:38:38 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:38:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:38:41 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3651	[save_utils.py: 703]
+05/25 20:38:41 INFO: [Worker 0] Successfully saved trajectory data for house_3651 in 3.15s (batch: 2.99s, save: 0.16s)	[pipeline.py: 280]
+05/25 20:38:41 WARNING: [Worker 0] No trajectory data to save for house_3651	[pipeline.py: 229]
+05/25 20:38:41 INFO: [Worker 0] Worker 0 completed house 3651: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:38:41 INFO: [Worker 0] Worker 0 starting house 3673 (index 72/112)	[pipeline.py: 473]
+05/25 20:38:41 INFO: [Worker 0] Loaded 1 episodes for house 3673 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_02	[json_eval_runner.py: 278]
+05/25 20:38:41 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]
+05/25 20:39:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b63ca5b519ba4920a6288da00d9224bd	[json_eval_task_sampler.py: 648]
+05/25 20:39:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2b66d433fad7419d994eb2b098293577	[json_eval_task_sampler.py: 648]
+05/25 20:39:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_4	[json_eval_task_sampler.py: 648]
+05/25 20:39:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3673_ceiling.xml	[task_sampler.py: 797]
+05/25 20:39:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3673, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:39:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:39:14 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects	[json_eval_task_sampler.py: 686]
+05/25 20:39:14 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:39:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:39:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:39:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:39:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:39:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:39:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:39:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:39:14 INFO: [Worker 0] Sampled task 'Pick up the black wireless router with blue led and place it in or on the square pink geometric box'	[task_sampler.py: 1136]
+05/25 20:39:14 INFO: [Worker 0] Worker 0 house 3673 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:39:14 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:41:47 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 20:46:32 INFO: [Worker 0] Worker 0 house 3673 episode 0 object objawirelessrouter_0f07b43af2ec4d60ad94115da8d21c42_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 20:46:36 INFO: [Worker 0] Batching and saving trajectory data for house_3673: 1 episodes	[pipeline.py: 233]
+05/25 20:46:36 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:46:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:46:38 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3673	[save_utils.py: 703]
+05/25 20:46:38 INFO: [Worker 0] Successfully saved trajectory data for house_3673 in 2.69s (batch: 2.58s, save: 0.11s)	[pipeline.py: 280]
+05/25 20:46:39 WARNING: [Worker 0] No trajectory data to save for house_3673	[pipeline.py: 229]
+05/25 20:46:39 INFO: [Worker 0] Worker 0 completed house 3673: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:46:39 INFO: [Worker 0] Worker 0 starting house 3757 (index 73/112)	[pipeline.py: 473]
+05/25 20:46:39 INFO: [Worker 0] Loaded 1 episodes for house 3757 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_02	[json_eval_runner.py: 278]
+05/25 20:46:39 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 20:47:42 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_27	[json_eval_task_sampler.py: 648]
+05/25 20:47:42 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/08dd440442874c8e8ae35494b4aff0a2	[json_eval_task_sampler.py: 648]
+05/25 20:47:42 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/934bd78c490140198db542aee7f765fa	[json_eval_task_sampler.py: 648]
+05/25 20:47:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3757_ceiling.xml	[task_sampler.py: 797]
+05/25 20:47:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3757, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:47:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:47:46 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects	[json_eval_task_sampler.py: 686]
+05/25 20:47:46 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:47:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:47:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:47:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:47:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:47:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:47:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:47:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:47:46 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 20:47:46 INFO: [Worker 0] Worker 0 house 3757 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:47:46 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:47:48 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 20:56:37 INFO: [Worker 0] Worker 0 house 3757 episode 0 object objaeducationaltoy_3d86ad3a43be4e7faf00336577c4edd3_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/25 20:56:41 INFO: [Worker 0] Batching and saving trajectory data for house_3757: 1 episodes	[pipeline.py: 233]
+05/25 20:56:41 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 20:56:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 20:56:44 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3757	[save_utils.py: 703]
+05/25 20:56:44 INFO: [Worker 0] Successfully saved trajectory data for house_3757 in 3.17s (batch: 2.88s, save: 0.29s)	[pipeline.py: 280]
+05/25 20:56:45 WARNING: [Worker 0] No trajectory data to save for house_3757	[pipeline.py: 229]
+05/25 20:56:45 INFO: [Worker 0] Worker 0 completed house 3757: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 20:56:45 INFO: [Worker 0] Worker 0 starting house 3790 (index 74/112)	[pipeline.py: 473]
+05/25 20:56:45 INFO: [Worker 0] Loaded 1 episodes for house 3790 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_02	[json_eval_runner.py: 278]
+05/25 20:56:45 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 20:57:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_28	[json_eval_task_sampler.py: 648]
+05/25 20:57:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/cb8931cc79b24d9cacb1d12349594c3b	[json_eval_task_sampler.py: 648]
+05/25 20:57:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_4	[json_eval_task_sampler.py: 648]
+05/25 20:57:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3790_ceiling.xml	[task_sampler.py: 797]
+05/25 20:57:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3790, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 20:57:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 20:57:09 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects	[json_eval_task_sampler.py: 686]
+05/25 20:57:09 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 20:57:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 20:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 20:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 20:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 20:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 20:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 20:57:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 20:57:09 INFO: [Worker 0] Sampled task 'Pick up the metal stopwatch with red hand and place it in or on the transparent ashtray with faceted edges'	[task_sampler.py: 1136]
+05/25 20:57:09 INFO: [Worker 0] Worker 0 house 3790 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 20:57:09 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 20:57:09 WARNING: [Worker 0] Could not find object objanoveltyaxe_fdade657c4cc47ad96cf428fc10b3120_1_0_6 in scene	[object_manager.py: 1238]
+05/25 20:57:09 WARNING: [Worker 0] Could not find object bowl_8f6844832379a39c0316319c38fb1803_1_0_6 in scene	[object_manager.py: 1238]
+05/25 21:10:25 INFO: [Worker 0] Worker 0 house 3790 episode 0 object objastopwatch_4612fc5b499945118127b5b874f93a3d_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/25 21:10:29 INFO: [Worker 0] Batching and saving trajectory data for house_3790: 1 episodes	[pipeline.py: 233]
+05/25 21:10:29 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 21:10:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 21:10:32 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3790	[save_utils.py: 703]
+05/25 21:10:32 INFO: [Worker 0] Successfully saved trajectory data for house_3790 in 3.14s (batch: 2.94s, save: 0.20s)	[pipeline.py: 280]
+05/25 21:10:33 WARNING: [Worker 0] No trajectory data to save for house_3790	[pipeline.py: 229]
+05/25 21:10:33 INFO: [Worker 0] Worker 0 completed house 3790: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 21:10:33 INFO: [Worker 0] Worker 0 starting house 3853 (index 75/112)	[pipeline.py: 473]
+05/25 21:10:33 INFO: [Worker 0] Loaded 1 episodes for house 3853 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_02	[json_eval_runner.py: 278]
+05/25 21:10:33 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 21:11:02 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/c2bd80794a3947238fe610f5733be9d2	[json_eval_task_sampler.py: 648]
+05/25 21:11:02 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/3339ce474c3d4fb3a35952f476ca1e4a	[json_eval_task_sampler.py: 648]
+05/25 21:11:02 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_2	[json_eval_task_sampler.py: 648]
+05/25 21:11:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3853_ceiling.xml	[task_sampler.py: 797]
+05/25 21:11:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3853, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 21:11:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 21:11:06 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects	[json_eval_task_sampler.py: 686]
+05/25 21:11:06 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 21:11:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 21:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 21:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 21:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 21:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 21:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 21:11:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 21:11:06 INFO: [Worker 0] Sampled task 'Pick up the realistic pink gums dentures and place it in or on the round gray bowl'	[task_sampler.py: 1136]
+05/25 21:11:06 INFO: [Worker 0] Worker 0 house 3853 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 21:11:07 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 21:11:07 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_6 in scene	[object_manager.py: 1238]
+05/25 21:19:13 INFO: [Worker 0] Worker 0 house 3853 episode 0 object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/25 21:19:18 INFO: [Worker 0] Batching and saving trajectory data for house_3853: 1 episodes	[pipeline.py: 233]
+05/25 21:19:18 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 21:19:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 21:19:22 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3853	[save_utils.py: 703]
+05/25 21:19:22 INFO: [Worker 0] Successfully saved trajectory data for house_3853 in 4.18s (batch: 3.87s, save: 0.31s)	[pipeline.py: 280]
+05/25 21:19:23 WARNING: [Worker 0] No trajectory data to save for house_3853	[pipeline.py: 229]
+05/25 21:19:23 INFO: [Worker 0] Worker 0 completed house 3853: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 21:19:23 INFO: [Worker 0] Worker 0 starting house 3906 (index 76/112)	[pipeline.py: 473]
+05/25 21:19:23 INFO: [Worker 0] Loaded 1 episodes for house 3906 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_02	[json_eval_runner.py: 278]
+05/25 21:19:23 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 21:19:27 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1ef337c5cfda4d368ceb154c0e9fae0e	[json_eval_task_sampler.py: 648]
+05/25 21:19:27 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_7	[json_eval_task_sampler.py: 648]
+05/25 21:19:27 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0	[json_eval_task_sampler.py: 648]
+05/25 21:19:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3906_ceiling.xml	[task_sampler.py: 797]
+05/25 21:19:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3906, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 21:19:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 21:19:34 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects	[json_eval_task_sampler.py: 686]
+05/25 21:19:34 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 21:19:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 21:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 21:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 21:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 21:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 21:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 21:19:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 21:19:34 INFO: [Worker 0] Sampled task 'Pick up the black and tan beetle and place it in or on the shallow beige ceramic bowl'	[task_sampler.py: 1136]
+05/25 21:19:34 INFO: [Worker 0] Worker 0 house 3906 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/25 21:19:34 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 21:23:16 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 21:28:59 INFO: [Worker 0] Worker 0 house 3906 episode 0 object objainsect_f2d648e6bd944cb6814ae2bef9fe00ef_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/25 21:29:03 INFO: [Worker 0] Batching and saving trajectory data for house_3906: 1 episodes	[pipeline.py: 233]
+05/25 21:29:03 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/25 21:29:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/25 21:29:06 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3906	[save_utils.py: 703]
+05/25 21:29:06 INFO: [Worker 0] Successfully saved trajectory data for house_3906 in 3.18s (batch: 3.00s, save: 0.18s)	[pipeline.py: 280]
+05/25 21:29:07 WARNING: [Worker 0] No trajectory data to save for house_3906	[pipeline.py: 229]
+05/25 21:29:07 INFO: [Worker 0] Worker 0 completed house 3906: 0/1 successful episodes	[pipeline.py: 1243]
+05/25 21:29:07 INFO: [Worker 0] Worker 0 starting house 3935 (index 77/112)	[pipeline.py: 473]
+05/25 21:29:07 INFO: [Worker 0] Loaded 2 episodes for house 3935 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_02	[json_eval_runner.py: 278]
+05/25 21:29:07 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 21:29:20 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_16	[json_eval_task_sampler.py: 648]
+05/25 21:29:20 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1ef337c5cfda4d368ceb154c0e9fae0e	[json_eval_task_sampler.py: 648]
+05/25 21:29:20 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_30	[json_eval_task_sampler.py: 648]
+05/25 21:29:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3935_ceiling.xml	[task_sampler.py: 797]
+05/25 21:29:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3935, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/25 21:29:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/25 21:29:25 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects	[json_eval_task_sampler.py: 686]
+05/25 21:29:25 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/25 21:29:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras	[camera_manager.py: 300]
+05/25 21:29:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/25 21:29:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/25 21:29:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1'	[camera_manager.py: 550]
+05/25 21:29:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2'	[camera_manager.py: 550]
+05/25 21:29:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1'	[camera_manager.py: 550]
+05/25 21:29:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras	[camera_manager.py: 326]
+05/25 21:29:25 INFO: [Worker 0] Sampled task 'Pick up the packaged chocolate cake with strawberries and place it in or on the blue patterned bowl'	[task_sampler.py: 1136]
+05/25 21:29:25 INFO: [Worker 0] Worker 0 house 3935 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/25 21:29:25 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/25 21:29:26 WARNING: [Worker 0] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene	[object_manager.py: 1238]
+05/25 21:29:26 WARNING: [Worker 0] Could not find object objadecorativeemblem_f22bbabd422c43ccba260d2f43bd7d80_1_0_5 in scene	[object_manager.py: 1238]
+05/25 21:32:03 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 21:38:11 INFO: [Worker 0] Worker 0 house 3935 episode 0 object objapackagedfood_47feb02b3b2b4f2e8c7154d3682817a2_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/25 21:38:15 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 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log b/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log
new file mode 100644
index 0000000000000000000000000000000000000000..d3e10cea8cb839b7ba11f899a15b0da4c0b8f08b
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log
@@ -0,0 +1,250 @@
+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 35 houses with 2 episodes each (70 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_02'),
+ '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_02/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': [3935,
+                                        3954,
+                                        3992,
+                                        4025,
+                                        4085,
+                                        4150,
+                                        4231,
+                                        4290,
+                                        4334,
+                                        4350,
+                                        4383,
+                                        4425,
+                                        4500,
+                                        4549,
+                                        4615,
+                                        4661,
+                                        4705,
+                                        4745,
+                                        4781,
+                                        4783,
+                                        4809,
+                                        4870,
+                                        4947,
+                                        4986,
+                                        5045,
+                                        5059,
+                                        5128,
+                                        5169,
+                                        5232,
+                                        5297,
+                                        5384,
+                                        5431,
+                                        5474,
+                                        5505,
+                                        5541],
+                         '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 3935 (index 0/35)	[pipeline.py: 473]
+05/26 00:59:03 INFO: [Worker 0] Loaded 2 episodes for house 3935 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_02	[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_16	[json_eval_task_sampler.py: 648]
+05/26 01:02:36 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1ef337c5cfda4d368ceb154c0e9fae0e	[json_eval_task_sampler.py: 648]
+05/26 01:02:36 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_30	[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 01:02:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3935_ceiling.xml	[task_sampler.py: 797]
+05/26 01:02:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3935, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:02:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:02:39 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects	[json_eval_task_sampler.py: 686]
+05/26 01:02:39 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:02:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:02:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:02:39 INFO: [Worker 0] Sampled task 'Pick up the packaged chocolate cake with strawberries and place it in or on the blue patterned bowl'	[task_sampler.py: 1136]
+05/26 01:02:39 INFO: [Worker 0] Worker 0 house 3935 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 01:02:40 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:02:40 WARNING: [Worker 0] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:02:40 WARNING: [Worker 0] Could not find object objadecorativeemblem_f22bbabd422c43ccba260d2f43bd7d80_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:02:45 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 01:09:21 INFO: [Worker 0] Worker 0 house 3935 episode 0 object objapackagedfood_47feb02b3b2b4f2e8c7154d3682817a2_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 01:09:27 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]
+05/26 01:09:29 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_16	[json_eval_task_sampler.py: 648]
+05/26 01:09:29 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1ef337c5cfda4d368ceb154c0e9fae0e	[json_eval_task_sampler.py: 648]
+05/26 01:09:29 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_30	[json_eval_task_sampler.py: 648]
+05/26 01:09:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3935_ceiling.xml	[task_sampler.py: 797]
+05/26 01:09:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3935, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:09:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:09:36 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects	[json_eval_task_sampler.py: 686]
+05/26 01:09:36 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:09:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:09:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:09:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:09:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:09:36 INFO: [Worker 0] Sampled task 'Pick up the vintage compass with needle pointing north and place it in or on the translucent smooth glass conical bowl'	[task_sampler.py: 1136]
+05/26 01:09:36 INFO: [Worker 0] Worker 0 house 3935 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 01:09:36 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:09:36 WARNING: [Worker 0] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:09:36 WARNING: [Worker 0] Could not find object objadecorativeemblem_f22bbabd422c43ccba260d2f43bd7d80_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:17:05 INFO: [Worker 0] Worker 0 house 3935 episode 1 object objacompass_8de466ea26ab43cdadcf67d86344052a_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 01:17:13 INFO: [Worker 0] Batching and saving trajectory data for house_3935: 2 episodes	[pipeline.py: 233]
+05/26 01:17:13 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:17:19 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:17:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:17:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:17:24 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/house_3935	[save_utils.py: 703]
+05/26 01:17:24 INFO: [Worker 0] Successfully saved trajectory data for house_3935 in 11.16s (batch: 10.83s, save: 0.33s)	[pipeline.py: 280]
+05/26 01:17:24 WARNING: [Worker 0] No trajectory data to save for house_3935	[pipeline.py: 229]
+05/26 01:17:24 INFO: [Worker 0] Worker 0 completed house 3935: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 01:17:24 INFO: [Worker 0] Worker 0 starting house 3954 (index 1/35)	[pipeline.py: 473]
+05/26 01:17:24 INFO: [Worker 0] Loaded 1 episodes for house 3954 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_02	[json_eval_runner.py: 278]
+05/26 01:17:25 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]
+05/26 01:17:28 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/3b145885d881488887d90a98b3cde06f	[json_eval_task_sampler.py: 648]
+05/26 01:17:28 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/16bfd987e11444ca9c065718d49f5877	[json_eval_task_sampler.py: 648]
+05/26 01:17:28 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/976f5b6e9a1344628642051f680b176b	[json_eval_task_sampler.py: 648]
+05/26 01:17:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3954_ceiling.xml	[task_sampler.py: 797]
+05/26 01:17:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3954, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:17:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:17:30 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects	[json_eval_task_sampler.py: 686]
+05/26 01:17:30 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:17:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:17:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:17:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:17:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:17:30 INFO: [Worker 0] Sampled task 'Pick up the elongated brown potato and place it in or on the shallow bowl with rim'	[task_sampler.py: 1136]
+05/26 01:17:30 INFO: [Worker 0] Worker 0 house 3954 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:17:30 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:21:57 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 01:23:51 INFO: Received SIGTERM. Initiating graceful shutdown...	[pipeline.py: 1260]
+05/26 01:23:51 INFO: [Worker 0] Worker 0 house 3954 episode 0 object Irishpotato_361f25dfd6f7907d2065fffb6e0c6649_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 01:23:56 INFO: [Worker 0] Worker 0 house 3954 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: 3	[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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/running_log.log b/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/running_log.log
new file mode 100644
index 0000000000000000000000000000000000000000..d1572d1363ea36f5602e0211bb18acacbc4b9320
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/running_log.log
@@ -0,0 +1,1232 @@
+05/26 01:04:52 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 677]
+05/26 01:04:52 INFO: Starting house-by-house rollout of 35 houses with 2 episodes each (70 total episodes) using 1 worker processes	[pipeline.py: 1279]
+05/26 01:04:52 INFO: Evaluation configuration:	[pipeline.py: 1286]
+05/26 01:04:52 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_02'),
+ '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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452'),
+ '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': [3935,
+                                        3954,
+                                        3992,
+                                        4025,
+                                        4085,
+                                        4150,
+                                        4231,
+                                        4290,
+                                        4334,
+                                        4350,
+                                        4383,
+                                        4425,
+                                        4500,
+                                        4549,
+                                        4615,
+                                        4661,
+                                        4705,
+                                        4745,
+                                        4781,
+                                        4783,
+                                        4809,
+                                        4870,
+                                        4947,
+                                        4986,
+                                        5045,
+                                        5059,
+                                        5128,
+                                        5169,
+                                        5232,
+                                        5297,
+                                        5384,
+                                        5431,
+                                        5474,
+                                        5505,
+                                        5541],
+                         '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 01:04:52 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler	[pipeline.py: 439]
+05/26 01:04:52 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]
+05/26 01:04:52 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler	[pipeline.py: 445]
+05/26 01:04:52 INFO: [Worker 0] Worker 0 starting house 3935 (index 0/35)	[pipeline.py: 473]
+05/26 01:04:52 INFO: [Worker 0] Loaded 2 episodes for house 3935 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_02	[json_eval_runner.py: 278]
+05/26 01:04:52 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]
+05/26 01:05:00 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_16	[json_eval_task_sampler.py: 648]
+05/26 01:05:00 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1ef337c5cfda4d368ceb154c0e9fae0e	[json_eval_task_sampler.py: 648]
+05/26 01:05:00 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_30	[json_eval_task_sampler.py: 648]
+05/26 01:05:00 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/26 01:05:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3935_ceiling.xml	[task_sampler.py: 797]
+05/26 01:05:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3935, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:05:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:05:13 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects	[json_eval_task_sampler.py: 686]
+05/26 01:05:13 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:05:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:05:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:05:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:05:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:05:14 INFO: [Worker 0] Sampled task 'Pick up the packaged chocolate cake with strawberries and place it in or on the blue patterned bowl'	[task_sampler.py: 1136]
+05/26 01:05:14 INFO: [Worker 0] Worker 0 house 3935 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 01:05:14 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:05:16 WARNING: [Worker 0] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:05:16 WARNING: [Worker 0] Could not find object objadecorativeemblem_f22bbabd422c43ccba260d2f43bd7d80_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:08:02 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 01:14:52 INFO: [Worker 0] Worker 0 house 3935 episode 0 object objapackagedfood_47feb02b3b2b4f2e8c7154d3682817a2_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 01:14:56 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 01:16:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_16	[json_eval_task_sampler.py: 648]
+05/26 01:16:09 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1ef337c5cfda4d368ceb154c0e9fae0e	[json_eval_task_sampler.py: 648]
+05/26 01:16:09 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_30	[json_eval_task_sampler.py: 648]
+05/26 01:16:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3935_ceiling.xml	[task_sampler.py: 797]
+05/26 01:16:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3935, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:16:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:16:16 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects	[json_eval_task_sampler.py: 686]
+05/26 01:16:16 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:16:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:16:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:16:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:16:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:16:16 INFO: [Worker 0] Sampled task 'Pick up the vintage compass with needle pointing north and place it in or on the translucent smooth glass conical bowl'	[task_sampler.py: 1136]
+05/26 01:16:16 INFO: [Worker 0] Worker 0 house 3935 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 01:16:16 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:16:16 WARNING: [Worker 0] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:16:16 WARNING: [Worker 0] Could not find object objadecorativeemblem_f22bbabd422c43ccba260d2f43bd7d80_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:20:36 INFO: [Worker 0] Worker 0 house 3935 episode 1 object objacompass_8de466ea26ab43cdadcf67d86344052a_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 01:20:42 INFO: [Worker 0] Batching and saving trajectory data for house_3935: 2 episodes	[pipeline.py: 233]
+05/26 01:20:42 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:20:47 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:20:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:20:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:20:51 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3935	[save_utils.py: 703]
+05/26 01:20:51 INFO: [Worker 0] Successfully saved trajectory data for house_3935 in 9.01s (batch: 8.64s, save: 0.36s)	[pipeline.py: 280]
+05/26 01:20:52 WARNING: [Worker 0] No trajectory data to save for house_3935	[pipeline.py: 229]
+05/26 01:20:52 INFO: [Worker 0] Worker 0 completed house 3935: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 01:20:52 INFO: [Worker 0] Worker 0 starting house 3954 (index 1/35)	[pipeline.py: 473]
+05/26 01:20:52 INFO: [Worker 0] Loaded 1 episodes for house 3954 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_02	[json_eval_runner.py: 278]
+05/26 01:20:52 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]
+05/26 01:20:53 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/3b145885d881488887d90a98b3cde06f	[json_eval_task_sampler.py: 648]
+05/26 01:20:53 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/16bfd987e11444ca9c065718d49f5877	[json_eval_task_sampler.py: 648]
+05/26 01:20:53 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/976f5b6e9a1344628642051f680b176b	[json_eval_task_sampler.py: 648]
+05/26 01:20:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3954_ceiling.xml	[task_sampler.py: 797]
+05/26 01:20:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3954, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:20:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:20:57 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects	[json_eval_task_sampler.py: 686]
+05/26 01:20:57 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:20:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:20:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:20:57 INFO: [Worker 0] Sampled task 'Pick up the elongated brown potato and place it in or on the shallow bowl with rim'	[task_sampler.py: 1136]
+05/26 01:20:57 INFO: [Worker 0] Worker 0 house 3954 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:20:57 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:22:04 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 01:25:06 INFO: [Worker 0] Worker 0 house 3954 episode 0 object Irishpotato_361f25dfd6f7907d2065fffb6e0c6649_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 01:25:10 INFO: [Worker 0] Batching and saving trajectory data for house_3954: 1 episodes	[pipeline.py: 233]
+05/26 01:25:10 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:25:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:25:12 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3954	[save_utils.py: 703]
+05/26 01:25:12 INFO: [Worker 0] Successfully saved trajectory data for house_3954 in 2.39s (batch: 2.30s, save: 0.09s)	[pipeline.py: 280]
+05/26 01:25:13 WARNING: [Worker 0] No trajectory data to save for house_3954	[pipeline.py: 229]
+05/26 01:25:13 INFO: [Worker 0] Worker 0 completed house 3954: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 01:25:13 INFO: [Worker 0] Worker 0 starting house 3992 (index 2/35)	[pipeline.py: 473]
+05/26 01:25:13 INFO: [Worker 0] Loaded 1 episodes for house 3992 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_02	[json_eval_runner.py: 278]
+05/26 01:25:13 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]
+05/26 01:30:40 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/2b5fd8656f2b43cba43cb0e25a2cb838	[json_eval_task_sampler.py: 648]
+05/26 01:30:40 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/af838119a5a14e6ea3cc7e6cb53e2bd8	[json_eval_task_sampler.py: 648]
+05/26 01:30:40 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/4c75946736424e5397f4eadd336e0bf1	[json_eval_task_sampler.py: 648]
+05/26 01:30:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3992_ceiling.xml	[task_sampler.py: 797]
+05/26 01:30:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3992, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:30:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:30:44 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects	[json_eval_task_sampler.py: 686]
+05/26 01:30:44 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:30:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:30:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:30:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:30:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:30:44 INFO: [Worker 0] Sampled task 'Pick up the gray and yellow climbing shoe and place it in or on the glossy blue and brown bowl'	[task_sampler.py: 1136]
+05/26 01:30:44 INFO: [Worker 0] Worker 0 house 3992 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:30:44 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:30:44 WARNING: [Worker 0] Could not find object objasyringe_0720be3e0ae84b319e90e6c7986e27dd_1_0_4 in scene	[object_manager.py: 1238]
+05/26 01:30:44 WARNING: [Worker 0] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_4 in scene	[object_manager.py: 1238]
+05/26 01:30:44 WARNING: [Worker 0] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:30:44 WARNING: [Worker 0] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_5 in scene	[object_manager.py: 1238]
+05/26 01:35:57 INFO: [Worker 0] Worker 0 house 3992 episode 0 object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/26 01:36:02 INFO: [Worker 0] Batching and saving trajectory data for house_3992: 1 episodes	[pipeline.py: 233]
+05/26 01:36:02 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:36:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:36:05 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3992	[save_utils.py: 703]
+05/26 01:36:05 INFO: [Worker 0] Successfully saved trajectory data for house_3992 in 3.51s (batch: 3.27s, save: 0.24s)	[pipeline.py: 280]
+05/26 01:36:06 WARNING: [Worker 0] No trajectory data to save for house_3992	[pipeline.py: 229]
+05/26 01:36:06 INFO: [Worker 0] Worker 0 completed house 3992: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 01:36:06 INFO: [Worker 0] Worker 0 starting house 4025 (index 3/35)	[pipeline.py: 473]
+05/26 01:36:06 INFO: [Worker 0] Loaded 1 episodes for house 4025 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_02	[json_eval_runner.py: 278]
+05/26 01:36:06 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 01:36:30 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b88a0160da29481fb7866fda93457fe3	[json_eval_task_sampler.py: 648]
+05/26 01:36:30 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bf83213efac34b3cb2ad6ac5ddaf05d9	[json_eval_task_sampler.py: 648]
+05/26 01:36:30 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/5c5c3b9ae7874b709c10ac57dad33195	[json_eval_task_sampler.py: 648]
+05/26 01:36:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4025_ceiling.xml	[task_sampler.py: 797]
+05/26 01:36:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4025, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:36:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:36:33 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects	[json_eval_task_sampler.py: 686]
+05/26 01:36:33 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:36:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:36:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:36:33 INFO: [Worker 0] Sampled task 'Pick up the red and white soup can and place it in or on the white bowl with blue'	[task_sampler.py: 1136]
+05/26 01:36:33 INFO: [Worker 0] Worker 0 house 4025 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:36:33 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:42:18 INFO: [Worker 0] Worker 0 house 4025 episode 0 object objacan_e0976ef0e465417a816b142387f41765_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 01:42:21 INFO: [Worker 0] Batching and saving trajectory data for house_4025: 1 episodes	[pipeline.py: 233]
+05/26 01:42:21 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:42:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:42:24 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4025	[save_utils.py: 703]
+05/26 01:42:24 INFO: [Worker 0] Successfully saved trajectory data for house_4025 in 2.84s (batch: 2.66s, save: 0.18s)	[pipeline.py: 280]
+05/26 01:42:25 WARNING: [Worker 0] No trajectory data to save for house_4025	[pipeline.py: 229]
+05/26 01:42:25 INFO: [Worker 0] Worker 0 completed house 4025: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 01:42:25 INFO: [Worker 0] Worker 0 starting house 4085 (index 4/35)	[pipeline.py: 473]
+05/26 01:42:25 INFO: [Worker 0] Loaded 1 episodes for house 4085 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_02	[json_eval_runner.py: 278]
+05/26 01:42:25 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]
+05/26 01:44:18 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0564efdff76649c48c0c41b49dd6a25e	[json_eval_task_sampler.py: 648]
+05/26 01:44:18 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_21	[json_eval_task_sampler.py: 648]
+05/26 01:44:18 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2df58d08f5604c058d43e00677d325b6	[json_eval_task_sampler.py: 648]
+05/26 01:44:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4085_ceiling.xml	[task_sampler.py: 797]
+05/26 01:44:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4085, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:44:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:44:21 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects	[json_eval_task_sampler.py: 686]
+05/26 01:44:21 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:44:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:44:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:44:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:44:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:44:21 INFO: [Worker 0] Sampled task 'Pick up the glossy red 3d adventure time text and place it in or on the light brown ceramic bowl'	[task_sampler.py: 1136]
+05/26 01:44:21 INFO: [Worker 0] Worker 0 house 4085 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:44:21 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:45:46 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 01:47:44 INFO: [Worker 0] Worker 0 house 4085 episode 0 object objadecorativetext_55e23bd0f4014b90be7d1a5bc9a69172_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 01:47:47 INFO: [Worker 0] Batching and saving trajectory data for house_4085: 1 episodes	[pipeline.py: 233]
+05/26 01:47:47 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 01:47:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 01:47:49 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4085	[save_utils.py: 703]
+05/26 01:47:49 INFO: [Worker 0] Successfully saved trajectory data for house_4085 in 2.30s (batch: 2.21s, save: 0.09s)	[pipeline.py: 280]
+05/26 01:47:50 WARNING: [Worker 0] No trajectory data to save for house_4085	[pipeline.py: 229]
+05/26 01:47:50 INFO: [Worker 0] Worker 0 completed house 4085: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 01:47:50 INFO: [Worker 0] Worker 0 starting house 4150 (index 5/35)	[pipeline.py: 473]
+05/26 01:47:50 INFO: [Worker 0] Loaded 1 episodes for house 4150 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_02	[json_eval_runner.py: 278]
+05/26 01:47:50 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 01:55:29 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b54b110dfccb4ea3a8f5a06cc65edc5a	[json_eval_task_sampler.py: 648]
+05/26 01:55:29 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/936714802d2849bea3efb1eb5c83cee6	[json_eval_task_sampler.py: 648]
+05/26 01:55:29 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/937044a40c3845bf88639056005b8a75	[json_eval_task_sampler.py: 648]
+05/26 01:55:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4150_ceiling.xml	[task_sampler.py: 797]
+05/26 01:55:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4150, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 01:55:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 01:55:31 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects	[json_eval_task_sampler.py: 686]
+05/26 01:55:31 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 01:55:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 01:55:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 01:55:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 01:55:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 01:55:31 INFO: [Worker 0] Sampled task 'Pick up the stylized animal head pendant and place it in or on the tableware'	[task_sampler.py: 1136]
+05/26 01:55:31 INFO: [Worker 0] Worker 0 house 4150 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 01:55:31 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 01:57:25 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 02:00:23 INFO: [Worker 0] Worker 0 house 4150 episode 0 object objanecklace_b4d304759a1b49849f84e53a31190c7c_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/26 02:00:27 INFO: [Worker 0] Batching and saving trajectory data for house_4150: 1 episodes	[pipeline.py: 233]
+05/26 02:00:27 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:00:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:00:31 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4150	[save_utils.py: 703]
+05/26 02:00:31 INFO: [Worker 0] Successfully saved trajectory data for house_4150 in 3.48s (batch: 3.35s, save: 0.13s)	[pipeline.py: 280]
+05/26 02:00:32 WARNING: [Worker 0] No trajectory data to save for house_4150	[pipeline.py: 229]
+05/26 02:00:32 INFO: [Worker 0] Worker 0 completed house 4150: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 02:00:32 INFO: [Worker 0] Worker 0 starting house 4231 (index 6/35)	[pipeline.py: 473]
+05/26 02:00:32 INFO: [Worker 0] Loaded 1 episodes for house 4231 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_02	[json_eval_runner.py: 278]
+05/26 02:00:32 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 02:00:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/72f752cce53e4942be8e27429ceaf83a	[json_eval_task_sampler.py: 648]
+05/26 02:00:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ede795f1c6f74a99b6952183f340fcb8	[json_eval_task_sampler.py: 648]
+05/26 02:00:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d50f554707f24584b988e2feea162cc5	[json_eval_task_sampler.py: 648]
+05/26 02:00:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4231_ceiling.xml	[task_sampler.py: 797]
+05/26 02:00:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4231, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:00:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:00:35 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects	[json_eval_task_sampler.py: 686]
+05/26 02:00:35 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:00:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:00:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:00:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:00:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:00:35 INFO: [Worker 0] Sampled task 'Pick up the metal adjustable wrench and place it in or on the rustic terracotta bowl'	[task_sampler.py: 1136]
+05/26 02:00:35 INFO: [Worker 0] Worker 0 house 4231 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 02:00:36 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:04:13 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]
+05/26 02:10:26 INFO: [Worker 0] Worker 0 house 4231 episode 0 object objaadjustablewrench_920576578b384b27b5c3e9bf36220c88_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/26 02:10:31 INFO: [Worker 0] Batching and saving trajectory data for house_4231: 1 episodes	[pipeline.py: 233]
+05/26 02:10:31 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:10:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:10:35 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4231	[save_utils.py: 703]
+05/26 02:10:35 INFO: [Worker 0] Successfully saved trajectory data for house_4231 in 3.96s (batch: 3.78s, save: 0.18s)	[pipeline.py: 280]
+05/26 02:10:36 WARNING: [Worker 0] No trajectory data to save for house_4231	[pipeline.py: 229]
+05/26 02:10:36 INFO: [Worker 0] Worker 0 completed house 4231: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 02:10:36 INFO: [Worker 0] Worker 0 starting house 4290 (index 7/35)	[pipeline.py: 473]
+05/26 02:10:36 INFO: [Worker 0] Loaded 1 episodes for house 4290 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_02	[json_eval_runner.py: 278]
+05/26 02:10:36 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 02:10:40 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7754545bd7044b298506bb35b05578d5	[json_eval_task_sampler.py: 648]
+05/26 02:10:40 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/DecorativeBox2	[json_eval_task_sampler.py: 648]
+05/26 02:10:40 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/372c4540cbe148b9bddcbbf1761b5e81	[json_eval_task_sampler.py: 648]
+05/26 02:10:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4290_ceiling.xml	[task_sampler.py: 797]
+05/26 02:10:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4290, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:10:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:10:50 INFO: [Worker 0] randomize_scene: Setting poses for 96 objects	[json_eval_task_sampler.py: 686]
+05/26 02:10:50 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:10:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:10:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:10:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:10:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:10:50 INFO: [Worker 0] Sampled task 'Pick up the gray train and place it in or on the dark teal box'	[task_sampler.py: 1136]
+05/26 02:10:50 INFO: [Worker 0] Worker 0 house 4290 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 02:10:50 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:10:50 WARNING: [Worker 0] Could not find object objametalsign_f46108fac0e4484aa085bdb0123dd7c7_1_0_8 in scene	[object_manager.py: 1238]
+05/26 02:17:57 INFO: [Worker 0] Worker 0 house 4290 episode 0 object objatoytraincar_c5f7b90d80aa4ae18100ed5616179406_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/26 02:18:01 INFO: [Worker 0] Batching and saving trajectory data for house_4290: 1 episodes	[pipeline.py: 233]
+05/26 02:18:01 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:18:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:18:04 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4290	[save_utils.py: 703]
+05/26 02:18:04 INFO: [Worker 0] Successfully saved trajectory data for house_4290 in 2.83s (batch: 2.70s, save: 0.13s)	[pipeline.py: 280]
+05/26 02:18:04 WARNING: [Worker 0] No trajectory data to save for house_4290	[pipeline.py: 229]
+05/26 02:18:04 INFO: [Worker 0] Worker 0 completed house 4290: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 02:18:04 INFO: [Worker 0] Worker 0 starting house 4334 (index 8/35)	[pipeline.py: 473]
+05/26 02:18:04 INFO: [Worker 0] Loaded 2 episodes for house 4334 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_02	[json_eval_runner.py: 278]
+05/26 02:18:04 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 02:18:17 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4	[json_eval_task_sampler.py: 648]
+05/26 02:18:17 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2911e8c87d49402c9e3c18277c8b2b2a	[json_eval_task_sampler.py: 648]
+05/26 02:18:17 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/72f752cce53e4942be8e27429ceaf83a	[json_eval_task_sampler.py: 648]
+05/26 02:18:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4334_ceiling.xml	[task_sampler.py: 797]
+05/26 02:18:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4334, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:18:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:18:22 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects	[json_eval_task_sampler.py: 686]
+05/26 02:18:22 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:18:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:18:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:18:23 INFO: [Worker 0] Sampled task 'Pick up the polished metal door lock and place it in or on the rectangular box with patterned lid'	[task_sampler.py: 1136]
+05/26 02:18:23 INFO: [Worker 0] Worker 0 house 4334 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 02:18:23 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:18:23 WARNING: [Worker 0] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_7 in scene	[object_manager.py: 1238]
+05/26 02:20:57 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 02:27:12 INFO: [Worker 0] Worker 0 house 4334 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/26 02:27:17 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 02:27:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4	[json_eval_task_sampler.py: 648]
+05/26 02:27:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2911e8c87d49402c9e3c18277c8b2b2a	[json_eval_task_sampler.py: 648]
+05/26 02:27:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/72f752cce53e4942be8e27429ceaf83a	[json_eval_task_sampler.py: 648]
+05/26 02:27:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4334_ceiling.xml	[task_sampler.py: 797]
+05/26 02:27:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4334, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:27:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:27:30 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects	[json_eval_task_sampler.py: 686]
+05/26 02:27:30 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:27:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:27:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:27:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:27:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:27:30 INFO: [Worker 0] Sampled task 'Pick up the pink wand with red sphere and place it in or on the rectangular box with patterned lid'	[task_sampler.py: 1136]
+05/26 02:27:30 INFO: [Worker 0] Worker 0 house 4334 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 02:27:30 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:27:31 WARNING: [Worker 0] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_7 in scene	[object_manager.py: 1238]
+05/26 02:35:08 INFO: [Worker 0] Worker 0 house 4334 episode 1 object objadecorativewand_612582bc490a4353ba468a9839bf9119_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/26 02:35:13 INFO: [Worker 0] Batching and saving trajectory data for house_4334: 2 episodes	[pipeline.py: 233]
+05/26 02:35:13 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:35:17 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:35:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:35:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:35:19 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4334	[save_utils.py: 703]
+05/26 02:35:19 INFO: [Worker 0] Successfully saved trajectory data for house_4334 in 6.35s (batch: 6.10s, save: 0.25s)	[pipeline.py: 280]
+05/26 02:35:20 WARNING: [Worker 0] No trajectory data to save for house_4334	[pipeline.py: 229]
+05/26 02:35:20 INFO: [Worker 0] Worker 0 completed house 4334: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 02:35:20 INFO: [Worker 0] Worker 0 starting house 4350 (index 9/35)	[pipeline.py: 473]
+05/26 02:35:20 INFO: [Worker 0] Loaded 1 episodes for house 4350 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_02	[json_eval_runner.py: 278]
+05/26 02:35:20 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 02:35:27 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bfdeafe4916c421e91dce2acb972d0f8	[json_eval_task_sampler.py: 648]
+05/26 02:35:27 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0cb14e8a04de4c39ac8714a98fba9883	[json_eval_task_sampler.py: 648]
+05/26 02:35:27 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d50f554707f24584b988e2feea162cc5	[json_eval_task_sampler.py: 648]
+05/26 02:35:27 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/26 02:35:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4350_ceiling.xml	[task_sampler.py: 797]
+05/26 02:35:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4350, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:35:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:35:34 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects	[json_eval_task_sampler.py: 686]
+05/26 02:35:34 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:35:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:35:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:35:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:35:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:35:34 INFO: [Worker 0] Sampled task 'Pick up the gray sword with blue and brown hilt and place it in or on the sculptural bowl with earthy texture'	[task_sampler.py: 1136]
+05/26 02:35:34 INFO: [Worker 0] Worker 0 house 4350 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 02:35:34 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:35:35 WARNING: [Worker 0] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene	[object_manager.py: 1238]
+05/26 02:35:35 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene	[object_manager.py: 1238]
+05/26 02:47:42 INFO: [Worker 0] Worker 0 house 4350 episode 0 object objatoysword_34640d52951443888e0bb0dc99f993c5_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/26 02:47:47 INFO: [Worker 0] Batching and saving trajectory data for house_4350: 1 episodes	[pipeline.py: 233]
+05/26 02:47:47 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:47:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:47:50 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4350	[save_utils.py: 703]
+05/26 02:47:50 INFO: [Worker 0] Successfully saved trajectory data for house_4350 in 3.31s (batch: 3.18s, save: 0.13s)	[pipeline.py: 280]
+05/26 02:47:51 WARNING: [Worker 0] No trajectory data to save for house_4350	[pipeline.py: 229]
+05/26 02:47:51 INFO: [Worker 0] Worker 0 completed house 4350: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 02:47:51 INFO: [Worker 0] Worker 0 starting house 4383 (index 10/35)	[pipeline.py: 473]
+05/26 02:47:51 INFO: [Worker 0] Loaded 1 episodes for house 4383 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_02	[json_eval_runner.py: 278]
+05/26 02:47:51 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]
+05/26 02:47:52 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e776cc1b82d54420a55e924510c027c5	[json_eval_task_sampler.py: 648]
+05/26 02:47:52 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b4f97bfa98234ac58b2991d6ac0a18a9	[json_eval_task_sampler.py: 648]
+05/26 02:47:52 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c44ac768e7304df58ebf13ba4c6eed11	[json_eval_task_sampler.py: 648]
+05/26 02:47:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4383_ceiling.xml	[task_sampler.py: 797]
+05/26 02:47:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4383, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:47:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:47:55 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects	[json_eval_task_sampler.py: 686]
+05/26 02:47:55 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:47:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:47:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:47:55 INFO: [Worker 0] Sampled task 'Pick up the brown potato and place it in or on the round gray handmade shallow bowl'	[task_sampler.py: 1136]
+05/26 02:47:55 INFO: [Worker 0] Worker 0 house 4383 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 02:47:55 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:50:22 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]
+05/26 02:57:03 INFO: [Worker 0] Worker 0 house 4383 episode 0 object Irishpotato_19522f313a33f0a662dcc0b1aa19547c_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 02:57:08 INFO: [Worker 0] Batching and saving trajectory data for house_4383: 1 episodes	[pipeline.py: 233]
+05/26 02:57:08 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 02:57:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 02:57:12 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4383	[save_utils.py: 703]
+05/26 02:57:12 INFO: [Worker 0] Successfully saved trajectory data for house_4383 in 3.79s (batch: 3.62s, save: 0.17s)	[pipeline.py: 280]
+05/26 02:57:13 WARNING: [Worker 0] No trajectory data to save for house_4383	[pipeline.py: 229]
+05/26 02:57:13 INFO: [Worker 0] Worker 0 completed house 4383: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 02:57:13 INFO: [Worker 0] Worker 0 starting house 4425 (index 11/35)	[pipeline.py: 473]
+05/26 02:57:13 INFO: [Worker 0] Loaded 1 episodes for house 4425 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_02	[json_eval_runner.py: 278]
+05/26 02:57:13 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]
+05/26 02:57:26 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e11475635c464216a2213d65c45a319a	[json_eval_task_sampler.py: 648]
+05/26 02:57:26 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_13	[json_eval_task_sampler.py: 648]
+05/26 02:57:26 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/752b1b00e4734e448428ccbd8ddae76c	[json_eval_task_sampler.py: 648]
+05/26 02:57:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4425_ceiling.xml	[task_sampler.py: 797]
+05/26 02:57:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4425, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 02:57:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 02:57:34 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects	[json_eval_task_sampler.py: 686]
+05/26 02:57:34 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 02:57:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 02:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 02:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 02:57:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 02:57:34 INFO: [Worker 0] Sampled task 'Pick up the black honeycomb wave structure with hinge and place it in or on the brown rustic ceramic bowl'	[task_sampler.py: 1136]
+05/26 02:57:34 INFO: [Worker 0] Worker 0 house 4425 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 02:57:34 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 02:57:35 WARNING: [Worker 0] Could not find object objaartifact_fc122506e9fb4919abd5e3b5876747a4_1_0_5 in scene	[object_manager.py: 1238]
+05/26 02:57:35 WARNING: [Worker 0] Could not find object objamat_e0b2b8107ba5450298811782f875ee25_1_0_5 in scene	[object_manager.py: 1238]
+05/26 03:10:26 INFO: [Worker 0] Worker 0 house 4425 episode 0 object objadecorativeelement_4b009fce74c64110b521f91692a4867f_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 03:10:32 INFO: [Worker 0] Batching and saving trajectory data for house_4425: 1 episodes	[pipeline.py: 233]
+05/26 03:10:32 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:10:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:10:36 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4425	[save_utils.py: 703]
+05/26 03:10:36 INFO: [Worker 0] Successfully saved trajectory data for house_4425 in 4.16s (batch: 3.97s, save: 0.19s)	[pipeline.py: 280]
+05/26 03:10:37 WARNING: [Worker 0] No trajectory data to save for house_4425	[pipeline.py: 229]
+05/26 03:10:37 INFO: [Worker 0] Worker 0 completed house 4425: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:10:37 INFO: [Worker 0] Worker 0 starting house 4500 (index 12/35)	[pipeline.py: 473]
+05/26 03:10:37 INFO: [Worker 0] Loaded 1 episodes for house 4500 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_02	[json_eval_runner.py: 278]
+05/26 03:10:37 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]
+05/26 03:10:39 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bcf3a4e49ee14eeda2faca7c7455161d	[json_eval_task_sampler.py: 648]
+05/26 03:10:39 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1e23d9b649a643528ce00de750e858de	[json_eval_task_sampler.py: 648]
+05/26 03:10:39 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/93ef7da87b1e43fbb47f3b26b927f777	[json_eval_task_sampler.py: 648]
+05/26 03:10:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4500_ceiling.xml	[task_sampler.py: 797]
+05/26 03:10:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4500, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:10:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:10:43 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects	[json_eval_task_sampler.py: 686]
+05/26 03:10:43 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:10:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:10:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:10:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:10:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:10:43 INFO: [Worker 0] Sampled task 'Pick up the hollow gradient gender symbol with cross and place it in or on the glossy ceramic bowl hemispherical'	[task_sampler.py: 1136]
+05/26 03:10:43 INFO: [Worker 0] Worker 0 house 4500 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:10:43 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:14:01 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]
+05/26 03:17:43 INFO: [Worker 0] Worker 0 house 4500 episode 0 object objasymbol_5742a3cd3a124f88bb061418ddc6db2b_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 03:17:48 INFO: [Worker 0] Batching and saving trajectory data for house_4500: 1 episodes	[pipeline.py: 233]
+05/26 03:17:48 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:17:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:17:52 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4500	[save_utils.py: 703]
+05/26 03:17:52 INFO: [Worker 0] Successfully saved trajectory data for house_4500 in 4.08s (batch: 3.81s, save: 0.27s)	[pipeline.py: 280]
+05/26 03:17:53 WARNING: [Worker 0] No trajectory data to save for house_4500	[pipeline.py: 229]
+05/26 03:17:53 INFO: [Worker 0] Worker 0 completed house 4500: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:17:53 INFO: [Worker 0] Worker 0 starting house 4549 (index 13/35)	[pipeline.py: 473]
+05/26 03:17:53 INFO: [Worker 0] Loaded 1 episodes for house 4549 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_02	[json_eval_runner.py: 278]
+05/26 03:17:53 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]
+05/26 03:17:54 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/c44ac768e7304df58ebf13ba4c6eed11	[json_eval_task_sampler.py: 648]
+05/26 03:17:54 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_24	[json_eval_task_sampler.py: 648]
+05/26 03:17:54 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/561e6757555049fca93f56e479f7cbe4	[json_eval_task_sampler.py: 648]
+05/26 03:17:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4549_ceiling.xml	[task_sampler.py: 797]
+05/26 03:17:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4549, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:17:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:17:57 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects	[json_eval_task_sampler.py: 686]
+05/26 03:17:57 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:17:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:17:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:17:57 INFO: [Worker 0] Sampled task 'Pick up the means and place it in or on the round textured bowl'	[task_sampler.py: 1136]
+05/26 03:17:57 INFO: [Worker 0] Worker 0 house 4549 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:17:57 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:20:58 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]
+05/26 03:23:17 INFO: [Worker 0] Worker 0 house 4549 episode 0 object objalever_5d821ac7148240c092c4face44c1d096_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 03:23:20 INFO: [Worker 0] Batching and saving trajectory data for house_4549: 1 episodes	[pipeline.py: 233]
+05/26 03:23:20 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:23:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:23:23 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4549	[save_utils.py: 703]
+05/26 03:23:23 INFO: [Worker 0] Successfully saved trajectory data for house_4549 in 3.07s (batch: 2.93s, save: 0.14s)	[pipeline.py: 280]
+05/26 03:23:24 WARNING: [Worker 0] No trajectory data to save for house_4549	[pipeline.py: 229]
+05/26 03:23:24 INFO: [Worker 0] Worker 0 completed house 4549: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:23:24 INFO: [Worker 0] Worker 0 starting house 4615 (index 14/35)	[pipeline.py: 473]
+05/26 03:23:24 INFO: [Worker 0] Loaded 1 episodes for house 4615 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_02	[json_eval_runner.py: 278]
+05/26 03:23:24 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 03:23:31 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e776cc1b82d54420a55e924510c027c5	[json_eval_task_sampler.py: 648]
+05/26 03:23:31 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_23	[json_eval_task_sampler.py: 648]
+05/26 03:23:31 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/39afab89520c460598805c0a6bad291c	[json_eval_task_sampler.py: 648]
+05/26 03:23:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4615_ceiling.xml	[task_sampler.py: 797]
+05/26 03:23:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4615, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:23:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:23:33 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects	[json_eval_task_sampler.py: 686]
+05/26 03:23:33 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:23:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:23:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:23:33 INFO: [Worker 0] Sampled task 'Pick up the broad metal trowel with cylindrical handle and place it in or on the shallow wide gray ceramic bowl'	[task_sampler.py: 1136]
+05/26 03:23:33 INFO: [Worker 0] Worker 0 house 4615 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:23:33 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:29:27 INFO: [Worker 0] Worker 0 house 4615 episode 0 object objatrowel_41e5faac18994f0b9f14a515e9662354_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 03:29:32 INFO: [Worker 0] Batching and saving trajectory data for house_4615: 1 episodes	[pipeline.py: 233]
+05/26 03:29:32 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:29:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:29:36 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4615	[save_utils.py: 703]
+05/26 03:29:36 INFO: [Worker 0] Successfully saved trajectory data for house_4615 in 3.71s (batch: 3.50s, save: 0.21s)	[pipeline.py: 280]
+05/26 03:29:36 WARNING: [Worker 0] No trajectory data to save for house_4615	[pipeline.py: 229]
+05/26 03:29:36 INFO: [Worker 0] Worker 0 completed house 4615: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:29:36 INFO: [Worker 0] Worker 0 starting house 4661 (index 15/35)	[pipeline.py: 473]
+05/26 03:29:36 INFO: [Worker 0] Loaded 1 episodes for house 4661 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_02	[json_eval_runner.py: 278]
+05/26 03:29:36 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 03:29:46 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/44f5be7685c1439c85cf9bc36e78578a	[json_eval_task_sampler.py: 648]
+05/26 03:29:46 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_13	[json_eval_task_sampler.py: 648]
+05/26 03:29:46 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/63211cbfb48044bcbdbbd30a3aa3bb75	[json_eval_task_sampler.py: 648]
+05/26 03:29:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4661_ceiling.xml	[task_sampler.py: 797]
+05/26 03:29:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4661, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:29:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:29:55 INFO: [Worker 0] randomize_scene: Setting poses for 104 objects	[json_eval_task_sampler.py: 686]
+05/26 03:29:55 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:29:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:29:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:29:55 INFO: [Worker 0] Sampled task 'Pick up the red walkie-talkie with antenna and place it in or on the earth map bowl'	[task_sampler.py: 1136]
+05/26 03:29:55 INFO: [Worker 0] Worker 0 house 4661 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:29:55 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:29:56 WARNING: [Worker 0] Could not find object objamodelhouse_46a06fe6dbbe4be6999c5c51dde9ec4b_1_0_5 in scene	[object_manager.py: 1238]
+05/26 03:29:56 WARNING: [Worker 0] Could not find object objajewelry_5d13ef83fc9f496fb99b97e4f0e5e610_1_0_5 in scene	[object_manager.py: 1238]
+05/26 03:29:56 WARNING: [Worker 0] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene	[object_manager.py: 1238]
+05/26 03:39:11 INFO: [Worker 0] Worker 0 house 4661 episode 0 object objawalkietalkie_8b08a40f337644cb8ceef52be1eb824f_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 03:39:16 INFO: [Worker 0] Batching and saving trajectory data for house_4661: 1 episodes	[pipeline.py: 233]
+05/26 03:39:16 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:39:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:39:20 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4661	[save_utils.py: 703]
+05/26 03:39:20 INFO: [Worker 0] Successfully saved trajectory data for house_4661 in 3.87s (batch: 3.56s, save: 0.32s)	[pipeline.py: 280]
+05/26 03:39:21 WARNING: [Worker 0] No trajectory data to save for house_4661	[pipeline.py: 229]
+05/26 03:39:21 INFO: [Worker 0] Worker 0 completed house 4661: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:39:21 INFO: [Worker 0] Worker 0 starting house 4705 (index 16/35)	[pipeline.py: 473]
+05/26 03:39:21 INFO: [Worker 0] Loaded 1 episodes for house 4705 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_02	[json_eval_runner.py: 278]
+05/26 03:39:21 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 03:39:37 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a37c32fbdbbb4ab19c8b1cccc557f52d	[json_eval_task_sampler.py: 648]
+05/26 03:39:37 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_17	[json_eval_task_sampler.py: 648]
+05/26 03:39:37 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4e33154ce3a40e4bd2b34f8de4f548c	[json_eval_task_sampler.py: 648]
+05/26 03:39:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4705_ceiling.xml	[task_sampler.py: 797]
+05/26 03:39:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4705, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:39:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:39:44 INFO: [Worker 0] randomize_scene: Setting poses for 84 objects	[json_eval_task_sampler.py: 686]
+05/26 03:39:44 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:39:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:39:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:39:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:39:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:39:44 INFO: [Worker 0] Sampled task 'Pick up the slender wooden handled awl and place it in or on the container'	[task_sampler.py: 1136]
+05/26 03:39:44 INFO: [Worker 0] Worker 0 house 4705 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:39:44 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:42:56 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 03:46:09 INFO: [Worker 0] Worker 0 house 4705 episode 0 object objahandtool_61b9c84deee940f1bf2c6125f96c40e5_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 03:46:12 INFO: [Worker 0] Batching and saving trajectory data for house_4705: 1 episodes	[pipeline.py: 233]
+05/26 03:46:12 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:46:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:46:15 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4705	[save_utils.py: 703]
+05/26 03:46:15 INFO: [Worker 0] Successfully saved trajectory data for house_4705 in 2.71s (batch: 2.58s, save: 0.13s)	[pipeline.py: 280]
+05/26 03:46:16 WARNING: [Worker 0] No trajectory data to save for house_4705	[pipeline.py: 229]
+05/26 03:46:16 INFO: [Worker 0] Worker 0 completed house 4705: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:46:16 INFO: [Worker 0] Worker 0 starting house 4745 (index 17/35)	[pipeline.py: 473]
+05/26 03:46:16 INFO: [Worker 0] Loaded 1 episodes for house 4745 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_02	[json_eval_runner.py: 278]
+05/26 03:46:16 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 03:46:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/5c5c3b9ae7874b709c10ac57dad33195	[json_eval_task_sampler.py: 648]
+05/26 03:46:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0500b0d9ef6f40dd96591d7b354c9ede	[json_eval_task_sampler.py: 648]
+05/26 03:46:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_14	[json_eval_task_sampler.py: 648]
+05/26 03:46:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4745_ceiling.xml	[task_sampler.py: 797]
+05/26 03:46:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4745, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:46:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:46:37 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects	[json_eval_task_sampler.py: 686]
+05/26 03:46:37 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:46:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:46:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:46:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:46:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:46:37 INFO: [Worker 0] Sampled task 'Pick up the yellow bee and place it in or on the round gray ceramic bowl'	[task_sampler.py: 1136]
+05/26 03:46:37 INFO: [Worker 0] Worker 0 house 4745 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:46:37 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:46:37 WARNING: [Worker 0] Could not find object objatoyflower_e1001602762642cca0ff1651da592cdd_1_0_8 in scene	[object_manager.py: 1238]
+05/26 03:46:37 WARNING: [Worker 0] Could not find object alarmclock_92c4e6e47495ff6cf76dac0aa793f1e6_1_0_8 in scene	[object_manager.py: 1238]
+05/26 03:49:48 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 03:55:32 INFO: [Worker 0] Worker 0 house 4745 episode 0 object objainsect_b6dbcdac7cc34379b22ff3099fa4bf5a_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 03:55:36 INFO: [Worker 0] Batching and saving trajectory data for house_4745: 1 episodes	[pipeline.py: 233]
+05/26 03:55:36 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 03:55:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 03:55:39 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4745	[save_utils.py: 703]
+05/26 03:55:39 INFO: [Worker 0] Successfully saved trajectory data for house_4745 in 3.04s (batch: 2.95s, save: 0.09s)	[pipeline.py: 280]
+05/26 03:55:39 WARNING: [Worker 0] No trajectory data to save for house_4745	[pipeline.py: 229]
+05/26 03:55:39 INFO: [Worker 0] Worker 0 completed house 4745: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 03:55:39 INFO: [Worker 0] Worker 0 starting house 4781 (index 18/35)	[pipeline.py: 473]
+05/26 03:55:39 INFO: [Worker 0] Loaded 1 episodes for house 4781 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_02	[json_eval_runner.py: 278]
+05/26 03:55:39 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]
+05/26 03:55:45 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d02ed62181d942fc9a1527b49bc67b17	[json_eval_task_sampler.py: 648]
+05/26 03:55:45 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/cb8931cc79b24d9cacb1d12349594c3b	[json_eval_task_sampler.py: 648]
+05/26 03:55:45 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/08dd440442874c8e8ae35494b4aff0a2	[json_eval_task_sampler.py: 648]
+05/26 03:55:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4781_ceiling.xml	[task_sampler.py: 797]
+05/26 03:55:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4781, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 03:55:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 03:55:51 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects	[json_eval_task_sampler.py: 686]
+05/26 03:55:51 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 03:55:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 03:55:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 03:55:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 03:55:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 03:55:51 INFO: [Worker 0] Sampled task 'Pick up the ornate bronze bell with claw base and place it in or on the transparent glass ashtray with faceted edges'	[task_sampler.py: 1136]
+05/26 03:55:51 INFO: [Worker 0] Worker 0 house 4781 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 03:55:51 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 03:58:35 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]
+05/26 04:04:51 INFO: [Worker 0] Worker 0 house 4781 episode 0 object objadecorativebell_82a59a8d2fed401ea8a9681ce7cfc3b0_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 04:04:56 INFO: [Worker 0] Batching and saving trajectory data for house_4781: 1 episodes	[pipeline.py: 233]
+05/26 04:04:56 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:04:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:04:59 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4781	[save_utils.py: 703]
+05/26 04:04:59 INFO: [Worker 0] Successfully saved trajectory data for house_4781 in 3.33s (batch: 3.18s, save: 0.15s)	[pipeline.py: 280]
+05/26 04:05:00 WARNING: [Worker 0] No trajectory data to save for house_4781	[pipeline.py: 229]
+05/26 04:05:00 INFO: [Worker 0] Worker 0 completed house 4781: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:05:00 INFO: [Worker 0] Worker 0 starting house 4783 (index 19/35)	[pipeline.py: 473]
+05/26 04:05:00 INFO: [Worker 0] Loaded 2 episodes for house 4783 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_02	[json_eval_runner.py: 278]
+05/26 04:05:00 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 04:05:07 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/24ee73c87dcf4161a630bb65dee2a7a5	[json_eval_task_sampler.py: 648]
+05/26 04:05:07 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/561e6757555049fca93f56e479f7cbe4	[json_eval_task_sampler.py: 648]
+05/26 04:05:07 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0cb14e8a04de4c39ac8714a98fba9883	[json_eval_task_sampler.py: 648]
+05/26 04:05:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4783_ceiling.xml	[task_sampler.py: 797]
+05/26 04:05:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4783, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:05:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:05:12 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects	[json_eval_task_sampler.py: 686]
+05/26 04:05:12 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:05:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:05:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:05:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:05:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:05:12 INFO: [Worker 0] Sampled task 'Pick up the disk and place it in or on the round bowl with dark band'	[task_sampler.py: 1136]
+05/26 04:05:12 INFO: [Worker 0] Worker 0 house 4783 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 04:05:12 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:11:38 INFO: [Worker 0] Worker 0 house 4783 episode 0 object objadisc_5766095a480e444da6185a24f8f17840_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 04:11:43 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 04:11:46 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/24ee73c87dcf4161a630bb65dee2a7a5	[json_eval_task_sampler.py: 648]
+05/26 04:11:46 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/561e6757555049fca93f56e479f7cbe4	[json_eval_task_sampler.py: 648]
+05/26 04:11:46 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0cb14e8a04de4c39ac8714a98fba9883	[json_eval_task_sampler.py: 648]
+05/26 04:11:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4783_ceiling.xml	[task_sampler.py: 797]
+05/26 04:11:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4783, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:11:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:11:51 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects	[json_eval_task_sampler.py: 686]
+05/26 04:11:51 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:11:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:11:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:11:51 INFO: [Worker 0] Sampled task 'Pick up the classic orange twin-bell alarm clock and place it in or on the jade green patterned bowl'	[task_sampler.py: 1136]
+05/26 04:11:51 INFO: [Worker 0] Worker 0 house 4783 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 04:11:51 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:15:31 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 04:22:16 INFO: [Worker 0] Worker 0 house 4783 episode 1 object objaalarmclock_71ab3427ad1142718af2ee8feb85c5fd_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 04:22:19 INFO: [Worker 0] Batching and saving trajectory data for house_4783: 2 episodes	[pipeline.py: 233]
+05/26 04:22:19 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:22:22 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:22:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:22:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:22:24 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4783	[save_utils.py: 703]
+05/26 04:22:24 INFO: [Worker 0] Successfully saved trajectory data for house_4783 in 4.91s (batch: 4.73s, save: 0.18s)	[pipeline.py: 280]
+05/26 04:22:25 WARNING: [Worker 0] No trajectory data to save for house_4783	[pipeline.py: 229]
+05/26 04:22:25 INFO: [Worker 0] Worker 0 completed house 4783: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 04:22:25 INFO: [Worker 0] Worker 0 starting house 4809 (index 20/35)	[pipeline.py: 473]
+05/26 04:22:25 INFO: [Worker 0] Loaded 1 episodes for house 4809 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_02	[json_eval_runner.py: 278]
+05/26 04:22:25 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]
+05/26 04:22:34 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_27	[json_eval_task_sampler.py: 648]
+05/26 04:22:34 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/675213cdb6eb4b8ab4ca565f2e7f4fc4	[json_eval_task_sampler.py: 648]
+05/26 04:22:34 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/10578ce7eca64714b260b142553f34f5	[json_eval_task_sampler.py: 648]
+05/26 04:22:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4809_ceiling.xml	[task_sampler.py: 797]
+05/26 04:22:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4809, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:22:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:22:38 INFO: [Worker 0] randomize_scene: Setting poses for 106 objects	[json_eval_task_sampler.py: 686]
+05/26 04:22:39 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:22:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:22:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:22:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:22:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:22:39 INFO: [Worker 0] Sampled task 'Pick up the rectangular black guitar effects pedal and place it in or on the white bowl with facets'	[task_sampler.py: 1136]
+05/26 04:22:39 INFO: [Worker 0] Worker 0 house 4809 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:22:39 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:22:39 WARNING: [Worker 0] Could not find object laptop_63fbcd680e0db93dfb0454951f2114f3_1_0_6 in scene	[object_manager.py: 1238]
+05/26 04:22:39 WARNING: [Worker 0] Could not find object objametalrod_6163f82aa93d4eaeb3acd9909e1f40f0_1_0_6 in scene	[object_manager.py: 1238]
+05/26 04:22:39 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_2_0_7 in scene	[object_manager.py: 1238]
+05/26 04:28:50 INFO: [Worker 0] Worker 0 house 4809 episode 0 object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/26 04:28:55 INFO: [Worker 0] Batching and saving trajectory data for house_4809: 1 episodes	[pipeline.py: 233]
+05/26 04:28:55 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:28:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:28:59 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4809	[save_utils.py: 703]
+05/26 04:28:59 INFO: [Worker 0] Successfully saved trajectory data for house_4809 in 3.41s (batch: 3.25s, save: 0.16s)	[pipeline.py: 280]
+05/26 04:29:00 WARNING: [Worker 0] No trajectory data to save for house_4809	[pipeline.py: 229]
+05/26 04:29:00 INFO: [Worker 0] Worker 0 completed house 4809: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:29:00 INFO: [Worker 0] Worker 0 starting house 4870 (index 21/35)	[pipeline.py: 473]
+05/26 04:29:00 INFO: [Worker 0] Loaded 1 episodes for house 4870 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_02	[json_eval_runner.py: 278]
+05/26 04:29:00 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 04:29:06 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/292913530b1c41709ffc8685fbb9d55a	[json_eval_task_sampler.py: 648]
+05/26 04:29:06 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/16bfd987e11444ca9c065718d49f5877	[json_eval_task_sampler.py: 648]
+05/26 04:29:06 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/589cc33e26134e808392ac3e956ba868	[json_eval_task_sampler.py: 648]
+05/26 04:29:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4870_ceiling.xml	[task_sampler.py: 797]
+05/26 04:29:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4870, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:29:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:29:11 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects	[json_eval_task_sampler.py: 686]
+05/26 04:29:11 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:29:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:29:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:29:11 INFO: [Worker 0] Sampled task 'Pick up the creamy beige candle and place it in or on the round black and gray ashtray'	[task_sampler.py: 1136]
+05/26 04:29:11 INFO: [Worker 0] Worker 0 house 4870 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:29:11 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:32:09 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 04:35:28 INFO: [Worker 0] Worker 0 house 4870 episode 0 object objacandle_a4849fae6e164623a7883695426daa50_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/26 04:35:31 INFO: [Worker 0] Batching and saving trajectory data for house_4870: 1 episodes	[pipeline.py: 233]
+05/26 04:35:31 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:35:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:35:35 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4870	[save_utils.py: 703]
+05/26 04:35:35 INFO: [Worker 0] Successfully saved trajectory data for house_4870 in 3.13s (batch: 3.02s, save: 0.11s)	[pipeline.py: 280]
+05/26 04:35:35 WARNING: [Worker 0] No trajectory data to save for house_4870	[pipeline.py: 229]
+05/26 04:35:35 INFO: [Worker 0] Worker 0 completed house 4870: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:35:35 INFO: [Worker 0] Worker 0 starting house 4947 (index 22/35)	[pipeline.py: 473]
+05/26 04:35:35 INFO: [Worker 0] Loaded 1 episodes for house 4947 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_02	[json_eval_runner.py: 278]
+05/26 04:35:35 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]
+05/26 04:35:41 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/3339ce474c3d4fb3a35952f476ca1e4a	[json_eval_task_sampler.py: 648]
+05/26 04:35:41 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/53c885e05492439cace4cc626fec00cc	[json_eval_task_sampler.py: 648]
+05/26 04:35:41 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/3b145885d881488887d90a98b3cde06f	[json_eval_task_sampler.py: 648]
+05/26 04:35:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4947_ceiling.xml	[task_sampler.py: 797]
+05/26 04:35:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4947, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:35:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:35:43 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects	[json_eval_task_sampler.py: 686]
+05/26 04:35:43 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:35:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:35:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:35:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:35:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:35:43 INFO: [Worker 0] Sampled task 'Pick up the pliers and place it in or on the bowl'	[task_sampler.py: 1136]
+05/26 04:35:43 INFO: [Worker 0] Worker 0 house 4947 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:35:43 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:39:31 INFO: [Worker 0] Worker 0 house 4947 episode 0 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 04:39:35 INFO: [Worker 0] Batching and saving trajectory data for house_4947: 1 episodes	[pipeline.py: 233]
+05/26 04:39:35 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:39:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:39:38 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4947	[save_utils.py: 703]
+05/26 04:39:38 INFO: [Worker 0] Successfully saved trajectory data for house_4947 in 2.71s (batch: 2.56s, save: 0.15s)	[pipeline.py: 280]
+05/26 04:39:39 WARNING: [Worker 0] No trajectory data to save for house_4947	[pipeline.py: 229]
+05/26 04:39:39 INFO: [Worker 0] Worker 0 completed house 4947: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:39:39 INFO: [Worker 0] Worker 0 starting house 4986 (index 23/35)	[pipeline.py: 473]
+05/26 04:39:39 INFO: [Worker 0] Loaded 1 episodes for house 4986 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_02	[json_eval_runner.py: 278]
+05/26 04:39:39 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]
+05/26 04:39:49 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/937044a40c3845bf88639056005b8a75	[json_eval_task_sampler.py: 648]
+05/26 04:39:49 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/56dccb62700a4c04b42646e060c087f5	[json_eval_task_sampler.py: 648]
+05/26 04:39:49 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_26	[json_eval_task_sampler.py: 648]
+05/26 04:39:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4986_ceiling.xml	[task_sampler.py: 797]
+05/26 04:39:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4986, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:39:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:39:52 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects	[json_eval_task_sampler.py: 686]
+05/26 04:39:52 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:39:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:39:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:39:52 INFO: [Worker 0] Sampled task 'Pick up the pixelated wooden hourglass and place it in or on the gray bowl'	[task_sampler.py: 1136]
+05/26 04:39:52 INFO: [Worker 0] Worker 0 house 4986 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:39:52 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:39:53 WARNING: [Worker 0] Could not find object objatoybomb_1631526a79b44d3a96382b1802a59fb7_1_0_6 in scene	[object_manager.py: 1238]
+05/26 04:39:53 WARNING: [Worker 0] Could not find object vase_e3478e74916159222cb33c5c329dc2b8_1_0_6 in scene	[object_manager.py: 1238]
+05/26 04:39:53 WARNING: [Worker 0] Could not find object objapapertowelroll_d62583f82dfe46f0a8a8255d35a6de62_1_0_7 in scene	[object_manager.py: 1238]
+05/26 04:39:53 WARNING: [Worker 0] Could not find object objasoap_539c979c75b34576b75f3383e96eadb5_1_0_7 in scene	[object_manager.py: 1238]
+05/26 04:39:53 WARNING: [Worker 0] Could not find object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_8 in scene	[object_manager.py: 1238]
+05/26 04:39:53 WARNING: [Worker 0] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_8 in scene	[object_manager.py: 1238]
+05/26 04:41:40 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]
+05/26 04:46:12 INFO: [Worker 0] Worker 0 house 4986 episode 0 object objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/26 04:46:15 INFO: [Worker 0] Batching and saving trajectory data for house_4986: 1 episodes	[pipeline.py: 233]
+05/26 04:46:15 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:46:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:46:18 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4986	[save_utils.py: 703]
+05/26 04:46:18 INFO: [Worker 0] Successfully saved trajectory data for house_4986 in 2.54s (batch: 2.39s, save: 0.15s)	[pipeline.py: 280]
+05/26 04:46:18 WARNING: [Worker 0] No trajectory data to save for house_4986	[pipeline.py: 229]
+05/26 04:46:18 INFO: [Worker 0] Worker 0 completed house 4986: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:46:18 INFO: [Worker 0] Worker 0 starting house 5045 (index 24/35)	[pipeline.py: 473]
+05/26 04:46:18 INFO: [Worker 0] Loaded 1 episodes for house 5045 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_02	[json_eval_runner.py: 278]
+05/26 04:46:18 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]
+05/26 04:46:28 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4	[json_eval_task_sampler.py: 648]
+05/26 04:46:28 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_18	[json_eval_task_sampler.py: 648]
+05/26 04:46:28 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/93ef7da87b1e43fbb47f3b26b927f777	[json_eval_task_sampler.py: 648]
+05/26 04:46:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5045_ceiling.xml	[task_sampler.py: 797]
+05/26 04:46:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5045, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:46:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:46:35 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects	[json_eval_task_sampler.py: 686]
+05/26 04:46:35 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:46:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:46:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:46:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:46:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:46:35 INFO: [Worker 0] Sampled task 'Pick up the brown preserved bird and place it in or on the blue ceramic pot with colorful face'	[task_sampler.py: 1136]
+05/26 04:46:35 INFO: [Worker 0] Worker 0 house 5045 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 04:46:35 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:46:35 WARNING: [Worker 0] Could not find object objaframedportrait_117946e14b8545a69e962fce2b8a5022_1_0_8 in scene	[object_manager.py: 1238]
+05/26 04:46:35 WARNING: [Worker 0] Could not find object laptop_63fbcd680e0db93dfb0454951f2114f3_1_0_8 in scene	[object_manager.py: 1238]
+05/26 04:53:03 INFO: [Worker 0] Worker 0 house 5045 episode 0 object objataxidermybird_843000ec4e604edbaa76946cd1a89501_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 04:53:07 INFO: [Worker 0] Batching and saving trajectory data for house_5045: 1 episodes	[pipeline.py: 233]
+05/26 04:53:07 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 04:53:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 04:53:10 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5045	[save_utils.py: 703]
+05/26 04:53:10 INFO: [Worker 0] Successfully saved trajectory data for house_5045 in 2.79s (batch: 2.66s, save: 0.13s)	[pipeline.py: 280]
+05/26 04:53:11 WARNING: [Worker 0] No trajectory data to save for house_5045	[pipeline.py: 229]
+05/26 04:53:11 INFO: [Worker 0] Worker 0 completed house 5045: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 04:53:11 INFO: [Worker 0] Worker 0 starting house 5059 (index 25/35)	[pipeline.py: 473]
+05/26 04:53:11 INFO: [Worker 0] Loaded 2 episodes for house 5059 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_02	[json_eval_runner.py: 278]
+05/26 04:53:11 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]
+05/26 04:53:11 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_24	[json_eval_task_sampler.py: 648]
+05/26 04:53:11 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_18	[json_eval_task_sampler.py: 648]
+05/26 04:53:11 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d8bcf6509a5d40378f2baec03bf551a5	[json_eval_task_sampler.py: 648]
+05/26 04:53:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5059_ceiling.xml	[task_sampler.py: 797]
+05/26 04:53:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5059, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 04:53:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 04:53:15 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects	[json_eval_task_sampler.py: 686]
+05/26 04:53:15 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 04:53:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 04:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 04:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 04:53:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 04:53:15 INFO: [Worker 0] Sampled task 'Pick up the ornate hand mirror and place it in or on the blue cooking pot'	[task_sampler.py: 1136]
+05/26 04:53:15 INFO: [Worker 0] Worker 0 house 5059 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 04:53:15 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 04:54:53 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]
+05/26 05:01:34 INFO: [Worker 0] Worker 0 house 5059 episode 0 object objahandmirror_a3348d3e4a674350af738e8cf20ec378_1_0_5 completed with success=False	[pipeline.py: 1114]
+05/26 05:01:39 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]
+05/26 05:01:41 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_24	[json_eval_task_sampler.py: 648]
+05/26 05:01:41 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_18	[json_eval_task_sampler.py: 648]
+05/26 05:01:41 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d8bcf6509a5d40378f2baec03bf551a5	[json_eval_task_sampler.py: 648]
+05/26 05:01:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5059_ceiling.xml	[task_sampler.py: 797]
+05/26 05:01:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5059, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:01:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:01:46 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects	[json_eval_task_sampler.py: 686]
+05/26 05:01:46 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:01:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:01:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:01:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:01:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:01:46 INFO: [Worker 0] Sampled task 'Pick up the black metal scope mount with knob and place it in or on the small wooden box with metal latch'	[task_sampler.py: 1136]
+05/26 05:01:46 INFO: [Worker 0] Worker 0 house 5059 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 05:01:46 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:04:09 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 05:07:24 INFO: [Worker 0] Worker 0 house 5059 episode 1 object objascopemount_97d5328f85dd40cfaec1aed7a00164f3_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 05:07:29 INFO: [Worker 0] Batching and saving trajectory data for house_5059: 2 episodes	[pipeline.py: 233]
+05/26 05:07:29 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:07:32 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:07:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:07:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:07:35 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5059	[save_utils.py: 703]
+05/26 05:07:35 INFO: [Worker 0] Successfully saved trajectory data for house_5059 in 6.55s (batch: 6.31s, save: 0.24s)	[pipeline.py: 280]
+05/26 05:07:36 WARNING: [Worker 0] No trajectory data to save for house_5059	[pipeline.py: 229]
+05/26 05:07:36 INFO: [Worker 0] Worker 0 completed house 5059: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 05:07:36 INFO: [Worker 0] Worker 0 starting house 5128 (index 26/35)	[pipeline.py: 473]
+05/26 05:07:36 INFO: [Worker 0] Loaded 1 episodes for house 5128 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_02	[json_eval_runner.py: 278]
+05/26 05:07:36 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 05:07:43 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/03f1185ff6d4428fa81f6fc9db589338	[json_eval_task_sampler.py: 648]
+05/26 05:07:43 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c44ac768e7304df58ebf13ba4c6eed11	[json_eval_task_sampler.py: 648]
+05/26 05:07:43 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0	[json_eval_task_sampler.py: 648]
+05/26 05:07:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5128_ceiling.xml	[task_sampler.py: 797]
+05/26 05:07:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5128, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:07:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:07:47 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects	[json_eval_task_sampler.py: 686]
+05/26 05:07:47 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:07:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:07:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:07:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:07:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:07:47 INFO: [Worker 0] Sampled task 'Pick up the rusty tool and place it in or on the round wooden bowl with grain pattern'	[task_sampler.py: 1136]
+05/26 05:07:47 INFO: [Worker 0] Worker 0 house 5128 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 05:07:47 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:07:48 WARNING: [Worker 0] Could not find object objajewelry_5d13ef83fc9f496fb99b97e4f0e5e610_1_0_3 in scene	[object_manager.py: 1238]
+05/26 05:07:48 WARNING: [Worker 0] Could not find object objaexternalharddrive_fd2d9721dc3a4fc6841e38f30fbad6c0_1_0_3 in scene	[object_manager.py: 1238]
+05/26 05:07:48 WARNING: [Worker 0] Could not find object objatoothmodel_7e325316ef424bc6b71ee680528b6eeb_1_0_4 in scene	[object_manager.py: 1238]
+05/26 05:07:48 WARNING: [Worker 0] Could not find object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_4 in scene	[object_manager.py: 1238]
+05/26 05:11:49 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]
+05/26 05:16:48 INFO: [Worker 0] Worker 0 house 5128 episode 0 object objahandtool_7985f67d4f204df78904cd50b73cbf0f_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 05:16:52 INFO: [Worker 0] Batching and saving trajectory data for house_5128: 1 episodes	[pipeline.py: 233]
+05/26 05:16:52 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:16:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:16:55 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5128	[save_utils.py: 703]
+05/26 05:16:55 INFO: [Worker 0] Successfully saved trajectory data for house_5128 in 3.02s (batch: 2.88s, save: 0.14s)	[pipeline.py: 280]
+05/26 05:16:56 WARNING: [Worker 0] No trajectory data to save for house_5128	[pipeline.py: 229]
+05/26 05:16:56 INFO: [Worker 0] Worker 0 completed house 5128: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 05:16:56 INFO: [Worker 0] Worker 0 starting house 5169 (index 27/35)	[pipeline.py: 473]
+05/26 05:16:56 INFO: [Worker 0] Loaded 1 episodes for house 5169 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_02	[json_eval_runner.py: 278]
+05/26 05:16:56 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 05:16:58 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1df7263c6e094645987c61c5d60e67d5	[json_eval_task_sampler.py: 648]
+05/26 05:16:58 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b4e33154ce3a40e4bd2b34f8de4f548c	[json_eval_task_sampler.py: 648]
+05/26 05:16:58 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/53c885e05492439cace4cc626fec00cc	[json_eval_task_sampler.py: 648]
+05/26 05:17:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5169_ceiling.xml	[task_sampler.py: 797]
+05/26 05:17:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5169, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:17:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:17:00 INFO: [Worker 0] randomize_scene: Setting poses for 16 objects	[json_eval_task_sampler.py: 686]
+05/26 05:17:00 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:17:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:17:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:17:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:17:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:17:00 INFO: [Worker 0] Sampled task 'Pick up the t-shaped metal pipe cutter and place it in or on the round frosted glass bowl with interior'	[task_sampler.py: 1136]
+05/26 05:17:00 INFO: [Worker 0] Worker 0 house 5169 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 05:17:00 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:22:22 INFO: [Worker 0] Worker 0 house 5169 episode 0 object objapipecutter_9113b144802144b683d8db86f7d7388c_2_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 05:22:26 INFO: [Worker 0] Batching and saving trajectory data for house_5169: 1 episodes	[pipeline.py: 233]
+05/26 05:22:26 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:22:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:22:29 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5169	[save_utils.py: 703]
+05/26 05:22:29 INFO: [Worker 0] Successfully saved trajectory data for house_5169 in 3.12s (batch: 2.99s, save: 0.13s)	[pipeline.py: 280]
+05/26 05:22:30 WARNING: [Worker 0] No trajectory data to save for house_5169	[pipeline.py: 229]
+05/26 05:22:30 INFO: [Worker 0] Worker 0 completed house 5169: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 05:22:30 INFO: [Worker 0] Worker 0 starting house 5232 (index 28/35)	[pipeline.py: 473]
+05/26 05:22:30 INFO: [Worker 0] Loaded 1 episodes for house 5232 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_02	[json_eval_runner.py: 278]
+05/26 05:22:30 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 05:22:36 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/63211cbfb48044bcbdbbd30a3aa3bb75	[json_eval_task_sampler.py: 648]
+05/26 05:22:36 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e9670b35612840bd92354dd8936d3c6a	[json_eval_task_sampler.py: 648]
+05/26 05:22:36 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0cb14e8a04de4c39ac8714a98fba9883	[json_eval_task_sampler.py: 648]
+05/26 05:22:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5232_ceiling.xml	[task_sampler.py: 797]
+05/26 05:22:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5232, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:22:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:22:39 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects	[json_eval_task_sampler.py: 686]
+05/26 05:22:39 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:22:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:22:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:22:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:22:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:22:39 INFO: [Worker 0] Sampled task 'Pick up the white rectangular domino piece and place it in or on the sculptural bowl with earthy texture'	[task_sampler.py: 1136]
+05/26 05:22:39 INFO: [Worker 0] Worker 0 house 5232 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 05:22:39 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:26:11 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 05:33:48 INFO: [Worker 0] Worker 0 house 5232 episode 0 object objadomino_c97ea56f249340cea90c4f66e84108dc_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 05:33:52 INFO: [Worker 0] Batching and saving trajectory data for house_5232: 1 episodes	[pipeline.py: 233]
+05/26 05:33:52 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:33:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:33:56 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5232	[save_utils.py: 703]
+05/26 05:33:56 INFO: [Worker 0] Successfully saved trajectory data for house_5232 in 3.56s (batch: 3.31s, save: 0.25s)	[pipeline.py: 280]
+05/26 05:33:57 WARNING: [Worker 0] No trajectory data to save for house_5232	[pipeline.py: 229]
+05/26 05:33:57 INFO: [Worker 0] Worker 0 completed house 5232: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 05:33:57 INFO: [Worker 0] Worker 0 starting house 5297 (index 29/35)	[pipeline.py: 473]
+05/26 05:33:57 INFO: [Worker 0] Loaded 1 episodes for house 5297 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_02	[json_eval_runner.py: 278]
+05/26 05:33:57 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]
+05/26 05:34:02 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_12	[json_eval_task_sampler.py: 648]
+05/26 05:34:02 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/cfe3c9eed1554f59ad7756e27d97c667	[json_eval_task_sampler.py: 648]
+05/26 05:34:02 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/01395fa3a8e54abc8c32a016b2d8c5f5	[json_eval_task_sampler.py: 648]
+05/26 05:34:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5297_ceiling.xml	[task_sampler.py: 797]
+05/26 05:34:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5297, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:34:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:34:06 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects	[json_eval_task_sampler.py: 686]
+05/26 05:34:06 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:34:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:34:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:34:06 INFO: [Worker 0] Sampled task 'Pick up the triangular golden chain with links and place it in or on the shallow ceramic dish with handle and pattern'	[task_sampler.py: 1136]
+05/26 05:34:06 INFO: [Worker 0] Worker 0 house 5297 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 05:34:06 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:40:55 INFO: [Worker 0] Worker 0 house 5297 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 05:40:59 INFO: [Worker 0] Batching and saving trajectory data for house_5297: 1 episodes	[pipeline.py: 233]
+05/26 05:40:59 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:41:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:41:02 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5297	[save_utils.py: 703]
+05/26 05:41:02 INFO: [Worker 0] Successfully saved trajectory data for house_5297 in 3.04s (batch: 2.92s, save: 0.12s)	[pipeline.py: 280]
+05/26 05:41:02 WARNING: [Worker 0] No trajectory data to save for house_5297	[pipeline.py: 229]
+05/26 05:41:02 INFO: [Worker 0] Worker 0 completed house 5297: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 05:41:02 INFO: [Worker 0] Worker 0 starting house 5384 (index 30/35)	[pipeline.py: 473]
+05/26 05:41:02 INFO: [Worker 0] Loaded 1 episodes for house 5384 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_02	[json_eval_runner.py: 278]
+05/26 05:41:02 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 05:41:06 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f8b3d867de194e6cb587c89d54ed8f0e	[json_eval_task_sampler.py: 648]
+05/26 05:41:06 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/934bd78c490140198db542aee7f765fa	[json_eval_task_sampler.py: 648]
+05/26 05:41:06 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2911e8c87d49402c9e3c18277c8b2b2a	[json_eval_task_sampler.py: 648]
+05/26 05:41:06 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/26 05:41:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5384_ceiling.xml	[task_sampler.py: 797]
+05/26 05:41:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5384, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:41:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:41:10 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects	[json_eval_task_sampler.py: 686]
+05/26 05:41:10 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:41:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:41:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:41:10 INFO: [Worker 0] Sampled task 'Pick up the vintage folding camera and place it in or on the rustic round gray clay bowl'	[task_sampler.py: 1136]
+05/26 05:41:10 INFO: [Worker 0] Worker 0 house 5384 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 05:41:10 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:41:11 WARNING: [Worker 0] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene	[object_manager.py: 1238]
+05/26 05:50:42 INFO: [Worker 0] Worker 0 house 5384 episode 0 object objavintagecamera_0e0b88c0baf8434fbd236ee93dc8d107_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 05:50:46 INFO: [Worker 0] Batching and saving trajectory data for house_5384: 1 episodes	[pipeline.py: 233]
+05/26 05:50:46 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:50:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:50:50 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5384	[save_utils.py: 703]
+05/26 05:50:50 INFO: [Worker 0] Successfully saved trajectory data for house_5384 in 3.76s (batch: 3.61s, save: 0.16s)	[pipeline.py: 280]
+05/26 05:50:50 WARNING: [Worker 0] No trajectory data to save for house_5384	[pipeline.py: 229]
+05/26 05:50:50 INFO: [Worker 0] Worker 0 completed house 5384: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 05:50:50 INFO: [Worker 0] Worker 0 starting house 5431 (index 31/35)	[pipeline.py: 473]
+05/26 05:50:50 INFO: [Worker 0] Loaded 1 episodes for house 5431 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_02	[json_eval_runner.py: 278]
+05/26 05:50:50 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 05:51:03 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/44f5be7685c1439c85cf9bc36e78578a	[json_eval_task_sampler.py: 648]
+05/26 05:51:03 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/80f09dd8b3d34005b3625823091978af	[json_eval_task_sampler.py: 648]
+05/26 05:51:03 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b54b110dfccb4ea3a8f5a06cc65edc5a	[json_eval_task_sampler.py: 648]
+05/26 05:51:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5431_ceiling.xml	[task_sampler.py: 797]
+05/26 05:51:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5431, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:51:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:51:06 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects	[json_eval_task_sampler.py: 686]
+05/26 05:51:06 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:51:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:51:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:51:06 INFO: [Worker 0] Sampled task 'Pick up the vintage metallic desk calendar and place it in or on the tan bowl with dark patterns'	[task_sampler.py: 1136]
+05/26 05:51:06 INFO: [Worker 0] Worker 0 house 5431 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 05:51:06 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 05:54:29 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]
+05/26 05:58:16 INFO: [Worker 0] Worker 0 house 5431 episode 0 object objadeskcalendar_c0ddec650d304adbb5d6730f43205dda_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 05:58:19 INFO: [Worker 0] Batching and saving trajectory data for house_5431: 1 episodes	[pipeline.py: 233]
+05/26 05:58:19 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 05:58:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 05:58:23 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5431	[save_utils.py: 703]
+05/26 05:58:23 INFO: [Worker 0] Successfully saved trajectory data for house_5431 in 3.18s (batch: 2.99s, save: 0.19s)	[pipeline.py: 280]
+05/26 05:58:23 WARNING: [Worker 0] No trajectory data to save for house_5431	[pipeline.py: 229]
+05/26 05:58:23 INFO: [Worker 0] Worker 0 completed house 5431: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 05:58:23 INFO: [Worker 0] Worker 0 starting house 5474 (index 32/35)	[pipeline.py: 473]
+05/26 05:58:23 INFO: [Worker 0] Loaded 1 episodes for house 5474 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_02	[json_eval_runner.py: 278]
+05/26 05:58:23 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 05:58:28 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_7	[json_eval_task_sampler.py: 648]
+05/26 05:58:28 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5efb7a6940894b5a835b4de2f3cf1559	[json_eval_task_sampler.py: 648]
+05/26 05:58:28 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/5c5c3b9ae7874b709c10ac57dad33195	[json_eval_task_sampler.py: 648]
+05/26 05:58:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5474_ceiling.xml	[task_sampler.py: 797]
+05/26 05:58:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5474, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 05:58:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 05:58:32 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects	[json_eval_task_sampler.py: 686]
+05/26 05:58:32 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 05:58:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 05:58:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 05:58:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 05:58:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 05:58:32 INFO: [Worker 0] Sampled task 'Pick up the tradingcard and place it in or on the faceted green striped bowl'	[task_sampler.py: 1136]
+05/26 05:58:32 INFO: [Worker 0] Worker 0 house 5474 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 05:58:32 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:00:45 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 06:02:51 INFO: [Worker 0] Worker 0 house 5474 episode 0 object objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 06:02:55 INFO: [Worker 0] Batching and saving trajectory data for house_5474: 1 episodes	[pipeline.py: 233]
+05/26 06:02:55 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:02:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:02:57 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5474	[save_utils.py: 703]
+05/26 06:02:57 INFO: [Worker 0] Successfully saved trajectory data for house_5474 in 2.70s (batch: 2.57s, save: 0.14s)	[pipeline.py: 280]
+05/26 06:02:58 WARNING: [Worker 0] No trajectory data to save for house_5474	[pipeline.py: 229]
+05/26 06:02:58 INFO: [Worker 0] Worker 0 completed house 5474: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 06:02:58 INFO: [Worker 0] Worker 0 starting house 5505 (index 33/35)	[pipeline.py: 473]
+05/26 06:02:58 INFO: [Worker 0] Loaded 1 episodes for house 5505 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_02	[json_eval_runner.py: 278]
+05/26 06:02:58 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 06:03:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ac3628478f6c4042a16e77d6753fa413	[json_eval_task_sampler.py: 648]
+05/26 06:03:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/94f253a91bc14f21be83592faf5891ff	[json_eval_task_sampler.py: 648]
+05/26 06:03:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9605b2b278774b5bb4e486695e6d920a	[json_eval_task_sampler.py: 648]
+05/26 06:03:05 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/26 06:03:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5505_ceiling.xml	[task_sampler.py: 797]
+05/26 06:03:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5505, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:03:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:03:09 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects	[json_eval_task_sampler.py: 686]
+05/26 06:03:09 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:03:09 INFO: [Worker 0] Sampled task 'Pick up the wooden beaver carving and place it in or on the rustic bowl with chipped rim'	[task_sampler.py: 1136]
+05/26 06:03:09 INFO: [Worker 0] Worker 0 house 5505 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 06:03:10 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:03:10 WARNING: [Worker 0] Could not find object objadentures_9f8a86701e5549c6bf6004b4f58bdd31_1_0_5 in scene	[object_manager.py: 1238]
+05/26 06:03:10 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene	[object_manager.py: 1238]
+05/26 06:03:10 WARNING: [Worker 0] Could not find object objatoyrocket_b9bdbba91b454caa8f8c82b946ded428_1_0_8 in scene	[object_manager.py: 1238]
+05/26 06:03:10 WARNING: [Worker 0] Could not find object objacomputermouse_c4c6d54694f3481eb60235314cbf2dc9_1_0_8 in scene	[object_manager.py: 1238]
+05/26 06:06:06 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]
+05/26 06:13:59 INFO: [Worker 0] Worker 0 house 5505 episode 0 object objawoodencarving_6589b07c9b2d49778e08d7e6110c04c6_1_0_9 completed with success=False	[pipeline.py: 1114]
+05/26 06:14:04 INFO: [Worker 0] Batching and saving trajectory data for house_5505: 1 episodes	[pipeline.py: 233]
+05/26 06:14:04 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:14:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:14:07 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5505	[save_utils.py: 703]
+05/26 06:14:07 INFO: [Worker 0] Successfully saved trajectory data for house_5505 in 3.25s (batch: 3.12s, save: 0.13s)	[pipeline.py: 280]
+05/26 06:14:08 WARNING: [Worker 0] No trajectory data to save for house_5505	[pipeline.py: 229]
+05/26 06:14:08 INFO: [Worker 0] Worker 0 completed house 5505: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 06:14:08 INFO: [Worker 0] Worker 0 starting house 5541 (index 34/35)	[pipeline.py: 473]
+05/26 06:14:08 INFO: [Worker 0] Loaded 1 episodes for house 5541 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_02	[json_eval_runner.py: 278]
+05/26 06:14:08 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]
+05/26 06:14:12 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/12ca824c9c81470d994ceccb4b5a9061	[json_eval_task_sampler.py: 648]
+05/26 06:14:12 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/976f5b6e9a1344628642051f680b176b	[json_eval_task_sampler.py: 648]
+05/26 06:14:12 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_19	[json_eval_task_sampler.py: 648]
+05/26 06:14:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5541_ceiling.xml	[task_sampler.py: 797]
+05/26 06:14:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5541, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 06:14:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 06:14:17 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects	[json_eval_task_sampler.py: 686]
+05/26 06:14:17 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 06:14:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 06:14:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 06:14:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 06:14:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 06:14:17 INFO: [Worker 0] Sampled task 'Pick up the green floral wedding invitation card and place it in or on the pixelated bowl filled with ramen'	[task_sampler.py: 1136]
+05/26 06:14:17 INFO: [Worker 0] Worker 0 house 5541 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 06:14:17 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 06:14:17 WARNING: [Worker 0] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene	[object_manager.py: 1238]
+05/26 06:14:17 WARNING: [Worker 0] Could not find object objasealanttube_75f15adc55404069bf598155d12d0ebd_1_0_5 in scene	[object_manager.py: 1238]
+05/26 06:14:17 WARNING: [Worker 0] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_7 in scene	[object_manager.py: 1238]
+05/26 06:16:46 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 06:22:01 INFO: [Worker 0] Worker 0 house 5541 episode 0 object objainvitationcard_e73597e02fef49fd988cbda0d6abe53b_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/26 06:22:05 INFO: [Worker 0] Batching and saving trajectory data for house_5541: 1 episodes	[pipeline.py: 233]
+05/26 06:22:05 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 06:22:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 06:22:08 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5541	[save_utils.py: 703]
+05/26 06:22:08 INFO: [Worker 0] Successfully saved trajectory data for house_5541 in 3.01s (batch: 2.89s, save: 0.12s)	[pipeline.py: 280]
+05/26 06:22:08 WARNING: [Worker 0] No trajectory data to save for house_5541	[pipeline.py: 229]
+05/26 06:22:08 INFO: [Worker 0] Worker 0 completed house 5541: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 06:22:08 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 526]
+05/26 06:22:09 INFO: Completed 35 houses, skipped 0 houses	[pipeline.py: 1496]
+05/26 06:22:09 INFO: Success count: 0, Total count: 39	[pipeline.py: 1499]
+05/26 06:22:09 INFO: Success rate: 0.00%	[pipeline.py: 1500]
diff --git a/pnp_v2/pnp_v2/shards/shard_02/eval/episode_results.jsonl b/pnp_v2/pnp_v2/shards/shard_02/eval/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..517d16d222f0f07eb0285f771d4ed71c8ae37288
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_02/eval/episode_results.jsonl
@@ -0,0 +1,39 @@
+{"house_id": "house_3935", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the packaged chocolate cake with strawberries and place it in or on the blue patterned bowl", "object_name": "objapackagedfood_47feb02b3b2b4f2e8c7154d3682817a2_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3935/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3935", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage compass with needle pointing north and place it in or on the translucent smooth glass conical bowl", "object_name": "objacompass_8de466ea26ab43cdadcf67d86344052a_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3935/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3954", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the elongated brown potato and place it in or on the shallow bowl with rim", "object_name": "Irishpotato_361f25dfd6f7907d2065fffb6e0c6649_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3954/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3992", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray and yellow climbing shoe and place it in or on the glossy blue and brown bowl", "object_name": "objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3992/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4025", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red and white soup can and place it in or on the white bowl with blue", "object_name": "objacan_e0976ef0e465417a816b142387f41765_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4025/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4085", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy red 3d adventure time text and place it in or on the light brown ceramic bowl", "object_name": "objadecorativetext_55e23bd0f4014b90be7d1a5bc9a69172_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4085/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4150", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the stylized animal head pendant and place it in or on the tableware", "object_name": "objanecklace_b4d304759a1b49849f84e53a31190c7c_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4150/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4231", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal adjustable wrench and place it in or on the rustic terracotta bowl", "object_name": "objaadjustablewrench_920576578b384b27b5c3e9bf36220c88_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4231/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4290", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray train and place it in or on the dark teal box", "object_name": "objatoytraincar_c5f7b90d80aa4ae18100ed5616179406_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4290/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4334", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished metal door lock and place it in or on the rectangular box with patterned lid", "object_name": "objadoorlock_3d56a40e1bae492b89072f71651d2d63_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4334/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4334", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink wand with red sphere and place it in or on the rectangular box with patterned lid", "object_name": "objadecorativewand_612582bc490a4353ba468a9839bf9119_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4334/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4350", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray sword with blue and brown hilt and place it in or on the sculptural bowl with earthy texture", "object_name": "objatoysword_34640d52951443888e0bb0dc99f993c5_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4350/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4383", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown potato and place it in or on the round gray handmade shallow bowl", "object_name": "Irishpotato_19522f313a33f0a662dcc0b1aa19547c_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4383/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4425", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black honeycomb wave structure with hinge and place it in or on the brown rustic ceramic bowl", "object_name": "objadecorativeelement_4b009fce74c64110b521f91692a4867f_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4425/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4500", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hollow gradient gender symbol with cross and place it in or on the glossy ceramic bowl hemispherical", "object_name": "objasymbol_5742a3cd3a124f88bb061418ddc6db2b_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4500/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4549", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the means and place it in or on the round textured bowl", "object_name": "objalever_5d821ac7148240c092c4face44c1d096_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4549/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4615", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the broad metal trowel with cylindrical handle and place it in or on the shallow wide gray ceramic bowl", "object_name": "objatrowel_41e5faac18994f0b9f14a515e9662354_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4615/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4661", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red walkie-talkie with antenna and place it in or on the earth map bowl", "object_name": "objawalkietalkie_8b08a40f337644cb8ceef52be1eb824f_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4661/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4705", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the slender wooden handled awl and place it in or on the container", "object_name": "objahandtool_61b9c84deee940f1bf2c6125f96c40e5_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4705/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4745", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow bee and place it in or on the round gray ceramic bowl", "object_name": "objainsect_b6dbcdac7cc34379b22ff3099fa4bf5a_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4745/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4781", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate bronze bell with claw base and place it in or on the transparent glass ashtray with faceted edges", "object_name": "objadecorativebell_82a59a8d2fed401ea8a9681ce7cfc3b0_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4781/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4783", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the disk and place it in or on the round bowl with dark band", "object_name": "objadisc_5766095a480e444da6185a24f8f17840_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4783/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4783", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the classic orange twin-bell alarm clock and place it in or on the jade green patterned bowl", "object_name": "objaalarmclock_71ab3427ad1142718af2ee8feb85c5fd_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4783/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4809", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular black guitar effects pedal and place it in or on the white bowl with facets", "object_name": "objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4809/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4870", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the creamy beige candle and place it in or on the round black and gray ashtray", "object_name": "objacandle_a4849fae6e164623a7883695426daa50_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4870/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4947", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pliers and place it in or on the bowl", "object_name": "objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4947/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4986", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pixelated wooden hourglass and place it in or on the gray bowl", "object_name": "objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4986/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5045", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown preserved bird and place it in or on the blue ceramic pot with colorful face", "object_name": "objataxidermybird_843000ec4e604edbaa76946cd1a89501_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5045/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5059", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate hand mirror and place it in or on the blue cooking pot", "object_name": "objahandmirror_a3348d3e4a674350af738e8cf20ec378_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5059/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5059", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black metal scope mount with knob and place it in or on the small wooden box with metal latch", "object_name": "objascopemount_97d5328f85dd40cfaec1aed7a00164f3_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5059/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5128", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty tool and place it in or on the round wooden bowl with grain pattern", "object_name": "objahandtool_7985f67d4f204df78904cd50b73cbf0f_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5128/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5169", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the t-shaped metal pipe cutter and place it in or on the round frosted glass bowl with interior", "object_name": "objapipecutter_9113b144802144b683d8db86f7d7388c_2_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5169/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5232", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular domino piece and place it in or on the sculptural bowl with earthy texture", "object_name": "objadomino_c97ea56f249340cea90c4f66e84108dc_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5232/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5297", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the triangular golden chain with links and place it in or on the shallow ceramic dish with handle and pattern", "object_name": "objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5297/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5384", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage folding camera and place it in or on the rustic round gray clay bowl", "object_name": "objavintagecamera_0e0b88c0baf8434fbd236ee93dc8d107_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5384/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5431", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metallic desk calendar and place it in or on the tan bowl with dark patterns", "object_name": "objadeskcalendar_c0ddec650d304adbb5d6730f43205dda_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5431/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5474", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tradingcard and place it in or on the faceted green striped bowl", "object_name": "objatradingcard_90d980fb471f440aa1d16866c79c61f7_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5474/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5505", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden beaver carving and place it in or on the rustic bowl with chipped rim", "object_name": "objawoodencarving_6589b07c9b2d49778e08d7e6110c04c6_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5505/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5541", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green floral wedding invitation card and place it in or on the pixelated bowl filled with ramen", "object_name": "objainvitationcard_e73597e02fef49fd988cbda0d6abe53b_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5541/trajectories_batch_1_of_1.h5", "metadata": {}}
diff --git a/pnp_v2/pnp_v2/shards/shard_02/eval/eval.log b/pnp_v2/pnp_v2/shards/shard_02/eval/eval.log
new file mode 100644
index 0000000000000000000000000000000000000000..ddd0db05ac7b7d4b642e3250b6a7be4a097720b7
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_02/eval/eval.log
@@ -0,0 +1,1408 @@
+[2026-05-26 01:03:53,183] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath']
+[2026-05-26 01:03:53,257] INFO Selected MuJoCo backend: egl
+[2026-05-26 01:03:53,269] 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_02 (source=arg)
+[2026-05-26 01:03:56,049] 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 01:04:18,740] 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 01:04:48,845] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini']
+[2026-05-26 01:04:48,848] INFO Using save_video_sensors=['__none__']
+[2026-05-26 01:04:52,542] 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 01:04:52,644] INFO Using explicit task_horizon override: 450 steps
+[05/26 01:04:52 INFO pipeline.py:677] WandB logging disabled (environment variables not set)
+[2026-05-26 01:04:52,697] INFO JsonEvalRunner initialized: 35 houses, 39 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_02
+[05/26 01:04:52 INFO pipeline.py:1279] Starting house-by-house rollout of 35 houses with 2 episodes each (70 total episodes) using 1 worker processes
+[05/26 01:04:52 INFO pipeline.py:1286] Evaluation configuration:
+[05/26 01:04:52 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_02'),
+ '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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452'),
+ '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': [3935,
+                                        3954,
+                                        3992,
+                                        4025,
+                                        4085,
+                                        4150,
+                                        4231,
+                                        4290,
+                                        4334,
+                                        4350,
+                                        4383,
+                                        4425,
+                                        4500,
+                                        4549,
+                                        4615,
+                                        4661,
+                                        4705,
+                                        4745,
+                                        4781,
+                                        4783,
+                                        4809,
+                                        4870,
+                                        4947,
+                                        4986,
+                                        5045,
+                                        5059,
+                                        5128,
+                                        5169,
+                                        5232,
+                                        5297,
+                                        5384,
+                                        5431,
+                                        5474,
+                                        5505,
+                                        5541],
+                         '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 01:04:52,720] 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452
+[05/26 01:04:52 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler
+[05/26 01:04:52 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 01:04:52 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler
+[05/26 01:04:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3935 (index 0/35)
+[05/26 01:04:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3935 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_02
+[05/26 01:04:52 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%|          | 0/28 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 28/28 [00:00<00:00, 64315.72it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/15 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 15/15 [00:00<00:00, 23493.11it/s]
+[05/26 01:05:00 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_16
+[05/26 01:05:00 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/1ef337c5cfda4d368ceb154c0e9fae0e
+[05/26 01:05:00 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_30
+[05/26 01:05:00 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+WARNING:2026-05-26 01:05:11,438: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 01:05:11,438] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu.
+[05/26 01:05:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3935_ceiling.xml
+[05/26 01:05:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3935, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:05:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:05:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects
+[05/26 01:05:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:05:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:05:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:05:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:05:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:05:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the packaged chocolate cake with strawberries and place it in or on the blue patterned bowl'
+[05/26 01:05:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 3935 episode 0/2 collected=0/2
+[05/26 01:05:14 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:05:16 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene
+[05/26 01:05:16 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_f22bbabd422c43ccba260d2f43bd7d80_1_0_5 in scene
+2026-05-26 01:05:17.833 | INFO     | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0
+[2026-05-26 01:05:44,336] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k)
+[2026-05-26 01:05:46,017] 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 01:07:40,727] INFO Number of parameters in DiT: 1.821428e+07
+[2026-05-26 01:07:58,408] 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 01:07:58,411] 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 01:08:02 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 01:14:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 3935 episode 0 object objapackagedfood_47feb02b3b2b4f2e8c7154d3682817a2_1_0_6 completed with success=False
+[05/26 01:14:56 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'}}
+
Checking objects/objaverse:   0%|          | 0/28 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 28/28 [00:00<00:00, 65719.37it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/15 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 15/15 [00:00<00:00, 38788.26it/s]
+[05/26 01:16:09 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_16
+[05/26 01:16:09 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/1ef337c5cfda4d368ceb154c0e9fae0e
+[05/26 01:16:09 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_30
+[05/26 01:16:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3935_ceiling.xml
+[05/26 01:16:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3935, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:16:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:16:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects
+[05/26 01:16:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:16:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:16:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:16:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:16:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:16:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the vintage compass with needle pointing north and place it in or on the translucent smooth glass conical bowl'
+[05/26 01:16:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 3935 episode 1/2 collected=1/2
+[05/26 01:16:16 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:16:16 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene
+[05/26 01:16:16 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_f22bbabd422c43ccba260d2f43bd7d80_1_0_5 in scene
+[05/26 01:20:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 3935 episode 1 object objacompass_8de466ea26ab43cdadcf67d86344052a_1_0_4 completed with success=False
+[05/26 01:20:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3935: 2 episodes
+[05/26 01:20:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:20:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:20:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:20:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:20:51 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3935
+[05/26 01:20:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3935 in 9.01s (batch: 8.64s, save: 0.36s)
+[05/26 01:20:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3935
+[05/26 01:20:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3935: 0/2 successful episodes
+[05/26 01:20:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3954 (index 1/35)
+[05/26 01:20:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3954 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_02
+[05/26 01:20:52 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, 1278.92it/s]
+[05/26 01:20:53 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/3b145885d881488887d90a98b3cde06f
+[05/26 01:20:53 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/16bfd987e11444ca9c065718d49f5877
+[05/26 01:20:53 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/976f5b6e9a1344628642051f680b176b
+[05/26 01:20:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3954_ceiling.xml
+[05/26 01:20:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3954, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:20:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:20:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects
+[05/26 01:20:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:20:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:20:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:20:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:20:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:20:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the elongated brown potato and place it in or on the shallow bowl with rim'
+[05/26 01:20:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 3954 episode 0/1 collected=0/2
+[05/26 01:20:57 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:22:04 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 01:25:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 3954 episode 0 object Irishpotato_361f25dfd6f7907d2065fffb6e0c6649_1_0_2 completed with success=False
+[05/26 01:25:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3954: 1 episodes
+[05/26 01:25:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:25:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:25:12 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3954
+[05/26 01:25:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3954 in 2.39s (batch: 2.30s, save: 0.09s)
+[05/26 01:25:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3954
+[05/26 01:25:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3954: 0/1 successful episodes
+[05/26 01:25:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3992 (index 2/35)
+[05/26 01:25:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3992 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_02
+[05/26 01:25:13 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%|          | 0/54 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 54/54 [00:00<00:00, 43083.97it/s]
+
Extracting:   0%|          | 0/5 [00:00<?, ?it/s]
Extracting:  20%|██        | 1/5 [00:17<01:08, 17.12s/it]
Extracting:  40%|████      | 2/5 [00:43<01:07, 22.59s/it]
Extracting:  60%|██████    | 3/5 [01:29<01:06, 33.34s/it]
Extracting:  80%|████████  | 4/5 [01:42<00:25, 25.10s/it]
Extracting: 100%|██████████| 5/5 [01:48<00:00, 18.28s/it]
Extracting: 100%|██████████| 5/5 [01:48<00:00, 21.67s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/17 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 17/17 [00:00<00:00, 73889.29it/s]
+[05/26 01:30:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/2b5fd8656f2b43cba43cb0e25a2cb838
+[05/26 01:30:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/af838119a5a14e6ea3cc7e6cb53e2bd8
+[05/26 01:30:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/4c75946736424e5397f4eadd336e0bf1
+[05/26 01:30:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3992_ceiling.xml
+[05/26 01:30:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3992, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:30:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:30:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 81 objects
+[05/26 01:30:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:30:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:30:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:30:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:30:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:30:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray and yellow climbing shoe and place it in or on the glossy blue and brown bowl'
+[05/26 01:30:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 3992 episode 0/1 collected=0/2
+[05/26 01:30:44 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objasyringe_0720be3e0ae84b319e90e6c7986e27dd_1_0_4 in scene
+[05/26 01:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_4 in scene
+[05/26 01:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene
+[05/26 01:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_5 in scene
+[2026-05-26 01:31:46,132] 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 01:35:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 3992 episode 0 object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_5 completed with success=False
+[05/26 01:36:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3992: 1 episodes
+[05/26 01:36:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:36:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:36:05 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3992
+[05/26 01:36:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3992 in 3.51s (batch: 3.27s, save: 0.24s)
+[05/26 01:36:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3992
+[05/26 01:36:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3992: 0/1 successful episodes
+[05/26 01:36:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4025 (index 3/35)
+[05/26 01:36:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4025 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_02
+[05/26 01:36:06 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'}}
+
Checking objects/objaverse:   0%|          | 0/30 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 30/30 [00:00<00:00, 39482.00it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/9 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 9/9 [00:00<00:00, 51289.04it/s]
+[05/26 01:36:30 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/b88a0160da29481fb7866fda93457fe3
+[05/26 01:36:30 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/bf83213efac34b3cb2ad6ac5ddaf05d9
+[05/26 01:36:30 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/5c5c3b9ae7874b709c10ac57dad33195
+[05/26 01:36:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4025_ceiling.xml
+[05/26 01:36:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4025, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:36:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:36:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects
+[05/26 01:36:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:36:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:36:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:36:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:36:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:36:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red and white soup can and place it in or on the white bowl with blue'
+[05/26 01:36:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 4025 episode 0/1 collected=0/2
+[05/26 01:36:33 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 01:38:27,687] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 01:42:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 4025 episode 0 object objacan_e0976ef0e465417a816b142387f41765_1_0_6 completed with success=False
+[05/26 01:42:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4025: 1 episodes
+[05/26 01:42:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:42:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:42:24 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4025
+[05/26 01:42:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4025 in 2.84s (batch: 2.66s, save: 0.18s)
+[05/26 01:42:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4025
+[05/26 01:42:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4025: 0/1 successful episodes
+[05/26 01:42:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4085 (index 4/35)
+[05/26 01:42:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4085 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_02
+[05/26 01:42:25 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, 29429.89it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:43<02:09, 43.22s/it]
Extracting:  50%|█████     | 2/4 [00:48<00:41, 20.87s/it]
Extracting:  75%|███████▌  | 3/4 [01:09<00:20, 20.89s/it]
Extracting: 100%|██████████| 4/4 [01:45<00:00, 27.09s/it]
Extracting: 100%|██████████| 4/4 [01:45<00:00, 26.49s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/14 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 14/14 [00:00<00:00, 29404.23it/s]
+[05/26 01:44:18 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/0564efdff76649c48c0c41b49dd6a25e
+[05/26 01:44:18 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_21
+[05/26 01:44:18 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/2df58d08f5604c058d43e00677d325b6
+[05/26 01:44:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4085_ceiling.xml
+[05/26 01:44:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4085, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:44:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:44:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects
+[05/26 01:44:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:44:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:44:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:44:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:44:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:44:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy red 3d adventure time text and place it in or on the light brown ceramic bowl'
+[05/26 01:44:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 4085 episode 0/1 collected=0/2
+[05/26 01:44:21 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 01:45:26,358] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 01:45:46 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 01:47:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4085 episode 0 object objadecorativetext_55e23bd0f4014b90be7d1a5bc9a69172_1_0_4 completed with success=False
+[05/26 01:47:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4085: 1 episodes
+[05/26 01:47:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:47:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:47:49 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4085
+[05/26 01:47:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4085 in 2.30s (batch: 2.21s, save: 0.09s)
+[05/26 01:47:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4085
+[05/26 01:47:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4085: 0/1 successful episodes
+[05/26 01:47:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4150 (index 5/35)
+[05/26 01:47:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4150 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_02
+[05/26 01:47:50 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'}}
+
Checking objects/objaverse:   0%|          | 0/34 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 34/34 [00:00<00:00, 39296.32it/s]
+
Extracting:   0%|          | 0/5 [00:00<?, ?it/s]
Extracting:  20%|██        | 1/5 [00:21<01:24, 21.13s/it]
Extracting:  40%|████      | 2/5 [00:42<01:04, 21.42s/it]
Extracting:  60%|██████    | 3/5 [01:06<00:45, 22.66s/it]
Extracting:  80%|████████  | 4/5 [01:08<00:14, 14.39s/it]
Extracting: 100%|██████████| 5/5 [01:23<00:00, 14.64s/it]
Extracting: 100%|██████████| 5/5 [01:23<00:00, 16.74s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/11 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 11/11 [00:00<00:00, 56959.68it/s]
+[05/26 01:55:29 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/b54b110dfccb4ea3a8f5a06cc65edc5a
+[05/26 01:55:29 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/936714802d2849bea3efb1eb5c83cee6
+[05/26 01:55:29 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/937044a40c3845bf88639056005b8a75
+[05/26 01:55:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4150_ceiling.xml
+[05/26 01:55:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4150, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:55:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:55:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects
+[05/26 01:55:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:55:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:55:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:55:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:55:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:55:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the stylized animal head pendant and place it in or on the tableware'
+[05/26 01:55:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 4150 episode 0/1 collected=0/2
+[05/26 01:55:31 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 01:56:32,155] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 01:57:25 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 02:00:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4150 episode 0 object objanecklace_b4d304759a1b49849f84e53a31190c7c_1_0_5 completed with success=False
+[05/26 02:00:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4150: 1 episodes
+[05/26 02:00:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:00:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:00:31 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4150
+[05/26 02:00:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4150 in 3.48s (batch: 3.35s, save: 0.13s)
+[05/26 02:00:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4150
+[05/26 02:00:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4150: 0/1 successful episodes
+[05/26 02:00:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4231 (index 6/35)
+[05/26 02:00:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4231 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_02
+[05/26 02:00:32 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'}}
+
Checking objects/objaverse:   0%|          | 0/15 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 15/15 [00:00<00:00, 50942.96it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/6 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 6/6 [00:00<00:00, 36684.87it/s]
+[05/26 02:00:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/72f752cce53e4942be8e27429ceaf83a
+[05/26 02:00:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/ede795f1c6f74a99b6952183f340fcb8
+[05/26 02:00:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/d50f554707f24584b988e2feea162cc5
+[05/26 02:00:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4231_ceiling.xml
+[05/26 02:00:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4231, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:00:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:00:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects
+[05/26 02:00:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:00:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:00:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:00:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:00:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:00:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal adjustable wrench and place it in or on the rustic terracotta bowl'
+[05/26 02:00:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 4231 episode 0/1 collected=0/2
+[05/26 02:00:36 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:02:56,842] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:04:13 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 02:10:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 4231 episode 0 object objaadjustablewrench_920576578b384b27b5c3e9bf36220c88_1_0_3 completed with success=False
+[05/26 02:10:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4231: 1 episodes
+[05/26 02:10:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:10:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:10:35 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4231
+[05/26 02:10:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4231 in 3.96s (batch: 3.78s, save: 0.18s)
+[05/26 02:10:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4231
+[05/26 02:10:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4231: 0/1 successful episodes
+[05/26 02:10:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4290 (index 7/35)
+[05/26 02:10:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4290 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_02
+[05/26 02:10:36 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%|          | 0/55 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 55/55 [00:00<00:00, 81056.47it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/29 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 29/29 [00:00<00:00, 69624.97it/s]
+[05/26 02:10:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/7754545bd7044b298506bb35b05578d5
+[05/26 02:10:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/DecorativeBox2
+[05/26 02:10:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/372c4540cbe148b9bddcbbf1761b5e81
+[05/26 02:10:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4290_ceiling.xml
+[05/26 02:10:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4290, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:10:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:10:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 96 objects
+[05/26 02:10:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:10:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:10:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:10:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:10:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:10:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray train and place it in or on the dark teal box'
+[05/26 02:10:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 4290 episode 0/1 collected=0/2
+[05/26 02:10:50 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:10:50 Worker 0 WARNING object_manager.py:1238] Could not find object objametalsign_f46108fac0e4484aa085bdb0123dd7c7_1_0_8 in scene
+[2026-05-26 02:12:46,846] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:17:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4290 episode 0 object objatoytraincar_c5f7b90d80aa4ae18100ed5616179406_1_0_3 completed with success=False
+[05/26 02:18:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4290: 1 episodes
+[05/26 02:18:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:18:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:18:04 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4290
+[05/26 02:18:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4290 in 2.83s (batch: 2.70s, save: 0.13s)
+[05/26 02:18:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4290
+[05/26 02:18:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4290: 0/1 successful episodes
+[05/26 02:18:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4334 (index 8/35)
+[05/26 02:18:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4334 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_02
+[05/26 02:18:04 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%|          | 0/48 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 48/48 [00:00<00:00, 34503.27it/s]
+
Extracting:   0%|          | 0/7 [00:00<?, ?it/s]
Extracting:  14%|█▍        | 1/7 [00:01<00:07,  1.27s/it]
Extracting:  29%|██▊       | 2/7 [00:02<00:06,  1.21s/it]
Extracting:  43%|████▎     | 3/7 [00:03<00:04,  1.16s/it]
Extracting:  57%|█████▋    | 4/7 [00:04<00:02,  1.01it/s]
Extracting:  71%|███████▏  | 5/7 [00:05<00:02,  1.03s/it]
Extracting:  86%|████████▌ | 6/7 [00:06<00:01,  1.09s/it]
Extracting: 100%|██████████| 7/7 [00:08<00:00,  1.34s/it]
Extracting: 100%|██████████| 7/7 [00:08<00:00,  1.20s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/16 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 16/16 [00:00<00:00, 8172.05it/s]
+[05/26 02:18:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4
+[05/26 02:18:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/2911e8c87d49402c9e3c18277c8b2b2a
+[05/26 02:18:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/72f752cce53e4942be8e27429ceaf83a
+[05/26 02:18:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4334_ceiling.xml
+[05/26 02:18:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4334, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:18:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:18:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 79 objects
+[05/26 02:18:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:18:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:18:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:18:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:18:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:18:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal door lock and place it in or on the rectangular box with patterned lid'
+[05/26 02:18:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 4334 episode 0/2 collected=0/2
+[05/26 02:18:23 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:18:23 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_7 in scene
+[2026-05-26 02:20:16,768] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:20:57 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 02:27:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4334 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_9 completed with success=False
+[05/26 02:27:17 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%|          | 0/48 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 48/48 [00:00<00:00, 49514.66it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/16 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 16/16 [00:00<00:00, 49236.14it/s]
+[05/26 02:27:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4
+[05/26 02:27:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/2911e8c87d49402c9e3c18277c8b2b2a
+[05/26 02:27:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/72f752cce53e4942be8e27429ceaf83a
+[05/26 02:27:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4334_ceiling.xml
+[05/26 02:27:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4334, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:27:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:27:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 79 objects
+[05/26 02:27:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:27:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:27:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:27:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:27:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:27:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pink wand with red sphere and place it in or on the rectangular box with patterned lid'
+[05/26 02:27:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 4334 episode 1/2 collected=1/2
+[05/26 02:27:30 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:27:31 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_7 in scene
+[2026-05-26 02:29:51,660] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:35:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4334 episode 1 object objadecorativewand_612582bc490a4353ba468a9839bf9119_1_0_8 completed with success=False
+[05/26 02:35:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4334: 2 episodes
+[05/26 02:35:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:35:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:35:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:35:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:35:19 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4334
+[05/26 02:35:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4334 in 6.35s (batch: 6.10s, save: 0.25s)
+[05/26 02:35:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4334
+[05/26 02:35:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4334: 0/2 successful episodes
+[05/26 02:35:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4350 (index 9/35)
+[05/26 02:35:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4350 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_02
+[05/26 02:35:20 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%|          | 0/51 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 51/51 [00:00<00:00, 44797.80it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:01<00:02,  1.27s/it]
Extracting:  67%|██████▋   | 2/3 [00:02<00:01,  1.32s/it]
Extracting: 100%|██████████| 3/3 [00:04<00:00,  1.41s/it]
Extracting: 100%|██████████| 3/3 [00:04<00:00,  1.38s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/20 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 20/20 [00:00<00:00, 6241.52it/s]
+[05/26 02:35:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/bfdeafe4916c421e91dce2acb972d0f8
+[05/26 02:35:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/0cb14e8a04de4c39ac8714a98fba9883
+[05/26 02:35:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/d50f554707f24584b988e2feea162cc5
+[05/26 02:35:27 Worker 0 INFO scene_maps.py:66] Deleted 1 blacklisted bodies from scene
+[05/26 02:35:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4350_ceiling.xml
+[05/26 02:35:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4350, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:35:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:35:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects
+[05/26 02:35:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:35:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:35:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:35:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:35:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:35:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray sword with blue and brown hilt and place it in or on the sculptural bowl with earthy texture'
+[05/26 02:35:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 4350 episode 0/1 collected=0/2
+[05/26 02:35:34 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:35:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene
+[05/26 02:35:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene
+[2026-05-26 02:37:36,136] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:47:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 4350 episode 0 object objatoysword_34640d52951443888e0bb0dc99f993c5_1_0_3 completed with success=False
+[05/26 02:47:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4350: 1 episodes
+[05/26 02:47:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:47:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:47:50 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4350
+[05/26 02:47:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4350 in 3.31s (batch: 3.18s, save: 0.13s)
+[05/26 02:47:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4350
+[05/26 02:47:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4350: 0/1 successful episodes
+[05/26 02:47:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4383 (index 10/35)
+[05/26 02:47:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4383 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_02
+[05/26 02:47:51 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%|          | 0/15 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 15/15 [00:00<00:00, 44715.39it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/3 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 3/3 [00:00<00:00, 15160.13it/s]
+[05/26 02:47:52 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/e776cc1b82d54420a55e924510c027c5
+[05/26 02:47:52 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/b4f97bfa98234ac58b2991d6ac0a18a9
+[05/26 02:47:52 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/c44ac768e7304df58ebf13ba4c6eed11
+[05/26 02:47:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4383_ceiling.xml
+[05/26 02:47:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4383, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:47:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:47:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects
+[05/26 02:47:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:47:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:47:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:47:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:47:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:47:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the brown potato and place it in or on the round gray handmade shallow bowl'
+[05/26 02:47:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 4383 episode 0/1 collected=0/2
+[05/26 02:47:55 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:49:46,117] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:50:22 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 02:57:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4383 episode 0 object Irishpotato_19522f313a33f0a662dcc0b1aa19547c_1_0_2 completed with success=False
+[05/26 02:57:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4383: 1 episodes
+[05/26 02:57:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:57:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:57:12 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4383
+[05/26 02:57:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4383 in 3.79s (batch: 3.62s, save: 0.17s)
+[05/26 02:57:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4383
+[05/26 02:57:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4383: 0/1 successful episodes
+[05/26 02:57:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4425 (index 11/35)
+[05/26 02:57:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4425 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_02
+[05/26 02:57:13 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%|          | 0/55 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 55/55 [00:00<00:00, 41738.14it/s]
+
Extracting:   0%|          | 0/6 [00:00<?, ?it/s]
Extracting:  17%|█▋        | 1/6 [00:01<00:05,  1.14s/it]
Extracting:  33%|███▎      | 2/6 [00:02<00:04,  1.23s/it]
Extracting:  50%|█████     | 3/6 [00:03<00:03,  1.30s/it]
Extracting:  67%|██████▋   | 4/6 [00:05<00:02,  1.32s/it]
Extracting:  83%|████████▎ | 5/6 [00:06<00:01,  1.25s/it]
Extracting: 100%|██████████| 6/6 [00:07<00:00,  1.37s/it]
Extracting: 100%|██████████| 6/6 [00:07<00:00,  1.31s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/23 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 23/23 [00:00<00:00, 3551.35it/s]
+[05/26 02:57:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/e11475635c464216a2213d65c45a319a
+[05/26 02:57:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_13
+[05/26 02:57:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/752b1b00e4734e448428ccbd8ddae76c
+[05/26 02:57:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4425_ceiling.xml
+[05/26 02:57:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4425, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:57:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:57:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 79 objects
+[05/26 02:57:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:57:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:57:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:57:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:57:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:57:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black honeycomb wave structure with hinge and place it in or on the brown rustic ceramic bowl'
+[05/26 02:57:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 4425 episode 0/1 collected=0/2
+[05/26 02:57:34 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:57:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaartifact_fc122506e9fb4919abd5e3b5876747a4_1_0_5 in scene
+[05/26 02:57:35 Worker 0 WARNING object_manager.py:1238] Could not find object objamat_e0b2b8107ba5450298811782f875ee25_1_0_5 in scene
+[2026-05-26 03:00:17,631] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:10:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 4425 episode 0 object objadecorativeelement_4b009fce74c64110b521f91692a4867f_1_0_2 completed with success=False
+[05/26 03:10:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4425: 1 episodes
+[05/26 03:10:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:10:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:10:36 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4425
+[05/26 03:10:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4425 in 4.16s (batch: 3.97s, save: 0.19s)
+[05/26 03:10:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4425
+[05/26 03:10:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4425: 0/1 successful episodes
+[05/26 03:10:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4500 (index 12/35)
+[05/26 03:10:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4500 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_02
+[05/26 03:10:37 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%|          | 0/21 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 21/21 [00:00<00:00, 55747.08it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/7 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 7/7 [00:00<00:00, 32406.32it/s]
+[05/26 03:10:39 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/bcf3a4e49ee14eeda2faca7c7455161d
+[05/26 03:10:39 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/1e23d9b649a643528ce00de750e858de
+[05/26 03:10:39 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/93ef7da87b1e43fbb47f3b26b927f777
+[05/26 03:10:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4500_ceiling.xml
+[05/26 03:10:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4500, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:10:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:10:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects
+[05/26 03:10:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:10:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:10:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:10:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:10:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:10:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the hollow gradient gender symbol with cross and place it in or on the glossy ceramic bowl hemispherical'
+[05/26 03:10:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 4500 episode 0/1 collected=0/2
+[05/26 03:10:43 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:12:58,867] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:14:01 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 03:17:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4500 episode 0 object objasymbol_5742a3cd3a124f88bb061418ddc6db2b_1_0_2 completed with success=False
+[05/26 03:17:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4500: 1 episodes
+[05/26 03:17:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:17:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:17:52 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4500
+[05/26 03:17:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4500 in 4.08s (batch: 3.81s, save: 0.27s)
+[05/26 03:17:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4500
+[05/26 03:17:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4500: 0/1 successful episodes
+[05/26 03:17:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4549 (index 13/35)
+[05/26 03:17:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4549 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_02
+[05/26 03:17:53 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'}}
+
Checking objects/objaverse:   0%|          | 0/16 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 16/16 [00:00<00:00, 38435.78it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/3 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 3/3 [00:00<00:00, 22153.01it/s]
+[05/26 03:17:54 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/c44ac768e7304df58ebf13ba4c6eed11
+[05/26 03:17:54 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Pot_24
+[05/26 03:17:54 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/561e6757555049fca93f56e479f7cbe4
+[05/26 03:17:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4549_ceiling.xml
+[05/26 03:17:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4549, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:17:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:17:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects
+[05/26 03:17:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:17:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:17:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:17:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:17:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:17:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the means and place it in or on the round textured bowl'
+[05/26 03:17:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 4549 episode 0/1 collected=0/2
+[05/26 03:17:57 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:20:06,684] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:20:58 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 03:23:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4549 episode 0 object objalever_5d821ac7148240c092c4face44c1d096_1_0_2 completed with success=False
+[05/26 03:23:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4549: 1 episodes
+[05/26 03:23:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:23:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:23:23 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4549
+[05/26 03:23:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4549 in 3.07s (batch: 2.93s, save: 0.14s)
+[05/26 03:23:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4549
+[05/26 03:23:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4549: 0/1 successful episodes
+[05/26 03:23:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4615 (index 14/35)
+[05/26 03:23:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4615 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_02
+[05/26 03:23:24 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%|          | 0/24 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 24/24 [00:00<00:00, 36591.53it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:00<00:02,  1.03it/s]
Extracting:  50%|█████     | 2/4 [00:02<00:02,  1.19s/it]
Extracting:  75%|███████▌  | 3/4 [00:03<00:01,  1.26s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.38s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.31s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/6 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 6/6 [00:00<00:00, 5557.82it/s]
+[05/26 03:23:31 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/e776cc1b82d54420a55e924510c027c5
+[05/26 03:23:31 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_23
+[05/26 03:23:31 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/39afab89520c460598805c0a6bad291c
+[05/26 03:23:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4615_ceiling.xml
+[05/26 03:23:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4615, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:23:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:23:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects
+[05/26 03:23:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:23:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:23:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:23:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:23:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:23:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the broad metal trowel with cylindrical handle and place it in or on the shallow wide gray ceramic bowl'
+[05/26 03:23:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 4615 episode 0/1 collected=0/2
+[05/26 03:23:33 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:24:44,091] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:29:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4615 episode 0 object objatrowel_41e5faac18994f0b9f14a515e9662354_1_0_7 completed with success=False
+[05/26 03:29:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4615: 1 episodes
+[05/26 03:29:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:29:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:29:36 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4615
+[05/26 03:29:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4615 in 3.71s (batch: 3.50s, save: 0.21s)
+[05/26 03:29:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4615
+[05/26 03:29:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4615: 0/1 successful episodes
+[05/26 03:29:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4661 (index 15/35)
+[05/26 03:29:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4661 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_02
+[05/26 03:29:36 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%|          | 0/59 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 59/59 [00:00<00:00, 54220.84it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/27 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 27/27 [00:00<00:00, 11540.43it/s]
+[05/26 03:29:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/44f5be7685c1439c85cf9bc36e78578a
+[05/26 03:29:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_13
+[05/26 03:29:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/63211cbfb48044bcbdbbd30a3aa3bb75
+[05/26 03:29:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4661_ceiling.xml
+[05/26 03:29:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4661, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:29:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:29:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 104 objects
+[05/26 03:29:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:29:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:29:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:29:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:29:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:29:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red walkie-talkie with antenna and place it in or on the earth map bowl'
+[05/26 03:29:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 4661 episode 0/1 collected=0/2
+[05/26 03:29:55 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:29:56 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelhouse_46a06fe6dbbe4be6999c5c51dde9ec4b_1_0_5 in scene
+[05/26 03:29:56 Worker 0 WARNING object_manager.py:1238] Could not find object objajewelry_5d13ef83fc9f496fb99b97e4f0e5e610_1_0_5 in scene
+[05/26 03:29:56 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene
+[2026-05-26 03:32:07,168] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:39:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4661 episode 0 object objawalkietalkie_8b08a40f337644cb8ceef52be1eb824f_1_0_6 completed with success=False
+[05/26 03:39:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4661: 1 episodes
+[05/26 03:39:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:39:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:39:20 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4661
+[05/26 03:39:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4661 in 3.87s (batch: 3.56s, save: 0.32s)
+[05/26 03:39:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4661
+[05/26 03:39:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4661: 0/1 successful episodes
+[05/26 03:39:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4705 (index 16/35)
+[05/26 03:39:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4705 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_02
+[05/26 03:39:21 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%|          | 0/58 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 58/58 [00:00<00:00, 5181.24it/s]
+
Extracting:   0%|          | 0/9 [00:00<?, ?it/s]
Extracting:  11%|█         | 1/9 [00:01<00:11,  1.43s/it]
Extracting:  22%|██▏       | 2/9 [00:02<00:06,  1.03it/s]
Extracting:  33%|███▎      | 3/9 [00:03<00:06,  1.09s/it]
Extracting:  44%|████▍     | 4/9 [00:04<00:06,  1.21s/it]
Extracting:  56%|█████▌    | 5/9 [00:05<00:04,  1.23s/it]
Extracting:  67%|██████▋   | 6/9 [00:07<00:03,  1.22s/it]
Extracting:  78%|███████▊  | 7/9 [00:08<00:02,  1.19s/it]
Extracting:  89%|████████▉ | 8/9 [00:09<00:01,  1.25s/it]
Extracting: 100%|██████████| 9/9 [00:10<00:00,  1.27s/it]
Extracting: 100%|██████████| 9/9 [00:10<00:00,  1.22s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/20 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 20/20 [00:00<00:00, 7933.24it/s]
+[05/26 03:39:37 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/a37c32fbdbbb4ab19c8b1cccc557f52d
+[05/26 03:39:37 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_17
+[05/26 03:39:37 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/b4e33154ce3a40e4bd2b34f8de4f548c
+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 03:39:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4705_ceiling.xml
+[05/26 03:39:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4705, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:39:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:39:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 84 objects
+[05/26 03:39:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:39:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:39:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:39:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:39:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:39:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender wooden handled awl and place it in or on the container'
+[05/26 03:39:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 4705 episode 0/1 collected=0/2
+[05/26 03:39:44 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:41:50,223] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:42:56 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 03:46:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4705 episode 0 object objahandtool_61b9c84deee940f1bf2c6125f96c40e5_1_0_2 completed with success=False
+[05/26 03:46:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4705: 1 episodes
+[05/26 03:46:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:46:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:46:15 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4705
+[05/26 03:46:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4705 in 2.71s (batch: 2.58s, save: 0.13s)
+[05/26 03:46:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4705
+[05/26 03:46:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4705: 0/1 successful episodes
+[05/26 03:46:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4745 (index 17/35)
+[05/26 03:46:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4745 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_02
+[05/26 03:46:16 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%|          | 0/51 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 51/51 [00:00<00:00, 33459.96it/s]
+
Extracting:   0%|          | 0/9 [00:00<?, ?it/s]
Extracting:  11%|█         | 1/9 [00:01<00:09,  1.13s/it]
Extracting:  22%|██▏       | 2/9 [00:02<00:09,  1.29s/it]
Extracting:  33%|███▎      | 3/9 [00:03<00:06,  1.13s/it]
Extracting:  44%|████▍     | 4/9 [00:04<00:05,  1.17s/it]
Extracting:  56%|█████▌    | 5/9 [00:05<00:04,  1.13s/it]
Extracting:  67%|██████▋   | 6/9 [00:07<00:03,  1.19s/it]
Extracting:  78%|███████▊  | 7/9 [00:07<00:02,  1.04s/it]
Extracting:  89%|████████▉ | 8/9 [00:08<00:01,  1.08s/it]
Extracting: 100%|██████████| 9/9 [00:10<00:00,  1.16s/it]
Extracting: 100%|██████████| 9/9 [00:10<00:00,  1.14s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/22 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 22/22 [00:00<00:00, 4460.73it/s]
+
Extracting:   0%|          | 0/5 [00:00<?, ?it/s]
Extracting:  20%|██        | 1/5 [00:00<00:02,  1.53it/s]
Extracting:  40%|████      | 2/5 [00:01<00:01,  1.59it/s]
Extracting:  60%|██████    | 3/5 [00:01<00:01,  1.53it/s]
Extracting:  80%|████████  | 4/5 [00:02<00:00,  1.35it/s]
Extracting: 100%|██████████| 5/5 [00:03<00:00,  1.43it/s]
Extracting: 100%|██████████| 5/5 [00:03<00:00,  1.45it/s]
+[05/26 03:46:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/5c5c3b9ae7874b709c10ac57dad33195
+[05/26 03:46:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/0500b0d9ef6f40dd96591d7b354c9ede
+[05/26 03:46:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_14
+[05/26 03:46:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4745_ceiling.xml
+[05/26 03:46:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4745, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:46:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:46:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects
+[05/26 03:46:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:46:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:46:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:46:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:46:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:46:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow bee and place it in or on the round gray ceramic bowl'
+[05/26 03:46:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 4745 episode 0/1 collected=0/2
+[05/26 03:46:37 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:46:37 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyflower_e1001602762642cca0ff1651da592cdd_1_0_8 in scene
+[05/26 03:46:37 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_92c4e6e47495ff6cf76dac0aa793f1e6_1_0_8 in scene
+[2026-05-26 03:48:23,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:49:48 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 03:55:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4745 episode 0 object objainsect_b6dbcdac7cc34379b22ff3099fa4bf5a_1_0_7 completed with success=False
+[05/26 03:55:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4745: 1 episodes
+[05/26 03:55:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:55:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:55:39 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4745
+[05/26 03:55:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4745 in 3.04s (batch: 2.95s, save: 0.09s)
+[05/26 03:55:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4745
+[05/26 03:55:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4745: 0/1 successful episodes
+[05/26 03:55:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4781 (index 18/35)
+[05/26 03:55:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4781 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_02
+[05/26 03:55:39 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%|          | 0/39 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 39/39 [00:00<00:00, 59526.15it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/19 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 19/19 [00:00<00:00, 8360.45it/s]
+[05/26 03:55:45 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/d02ed62181d942fc9a1527b49bc67b17
+[05/26 03:55:45 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/cb8931cc79b24d9cacb1d12349594c3b
+[05/26 03:55:45 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/08dd440442874c8e8ae35494b4aff0a2
+[05/26 03:55:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4781_ceiling.xml
+[05/26 03:55:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4781, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:55:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:55:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 76 objects
+[05/26 03:55:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:55:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:55:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:55:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:55:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:55:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ornate bronze bell with claw base and place it in or on the transparent glass ashtray with faceted edges'
+[05/26 03:55:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 4781 episode 0/1 collected=0/2
+[05/26 03:55:51 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:57:45,326] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:58:35 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 04:04:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4781 episode 0 object objadecorativebell_82a59a8d2fed401ea8a9681ce7cfc3b0_1_0_4 completed with success=False
+[05/26 04:04:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4781: 1 episodes
+[05/26 04:04:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:04:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:04:59 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4781
+[05/26 04:04:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4781 in 3.33s (batch: 3.18s, save: 0.15s)
+[05/26 04:05:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4781
+[05/26 04:05:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4781: 0/1 successful episodes
+[05/26 04:05:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4783 (index 19/35)
+[05/26 04:05:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4783 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_02
+[05/26 04:05:00 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%|          | 0/20 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 20/20 [00:00<00:00, 19413.58it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:01<00:02,  1.41s/it]
Extracting:  67%|██████▋   | 2/3 [00:02<00:01,  1.30s/it]
Extracting: 100%|██████████| 3/3 [00:03<00:00,  1.30s/it]
Extracting: 100%|██████████| 3/3 [00:03<00:00,  1.31s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/9 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 9/9 [00:00<00:00, 5127.51it/s]
+[05/26 04:05:07 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/24ee73c87dcf4161a630bb65dee2a7a5
+[05/26 04:05:07 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/561e6757555049fca93f56e479f7cbe4
+[05/26 04:05:07 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/0cb14e8a04de4c39ac8714a98fba9883
+[05/26 04:05:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4783_ceiling.xml
+[05/26 04:05:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4783, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:05:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:05:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects
+[05/26 04:05:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:05:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:05:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:05:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:05:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:05:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the disk and place it in or on the round bowl with dark band'
+[05/26 04:05:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 4783 episode 0/2 collected=0/2
+[05/26 04:05:12 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:06:34,918] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:11:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 4783 episode 0 object objadisc_5766095a480e444da6185a24f8f17840_1_0_2 completed with success=False
+[05/26 04:11:43 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, 54720.21it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/9 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 9/9 [00:00<00:00, 36192.46it/s]
+[05/26 04:11:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/24ee73c87dcf4161a630bb65dee2a7a5
+[05/26 04:11:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/561e6757555049fca93f56e479f7cbe4
+[05/26 04:11:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/0cb14e8a04de4c39ac8714a98fba9883
+[05/26 04:11:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4783_ceiling.xml
+[05/26 04:11:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4783, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:11:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:11:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects
+[05/26 04:11:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:11:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:11:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:11:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:11:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:11:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the classic orange twin-bell alarm clock and place it in or on the jade green patterned bowl'
+[05/26 04:11:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 4783 episode 1/2 collected=1/2
+[05/26 04:11:51 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:14:01,065] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:15:31 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 04:22:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4783 episode 1 object objaalarmclock_71ab3427ad1142718af2ee8feb85c5fd_1_0_2 completed with success=False
+[05/26 04:22:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4783: 2 episodes
+[05/26 04:22:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:22:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:22:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:22:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:22:24 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4783
+[05/26 04:22:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4783 in 4.91s (batch: 4.73s, save: 0.18s)
+[05/26 04:22:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4783
+[05/26 04:22:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4783: 0/2 successful episodes
+[05/26 04:22:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4809 (index 20/35)
+[05/26 04:22:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4809 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_02
+[05/26 04:22:25 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%|          | 0/54 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 54/54 [00:00<00:00, 53683.91it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:01<00:03,  1.13s/it]
Extracting:  50%|█████     | 2/4 [00:02<00:02,  1.23s/it]
Extracting:  75%|███████▌  | 3/4 [00:03<00:01,  1.35s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.40s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.35s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/24 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 24/24 [00:00<00:00, 63469.92it/s]
+[05/26 04:22:34 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Pot_27
+[05/26 04:22:34 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/675213cdb6eb4b8ab4ca565f2e7f4fc4
+[05/26 04:22:34 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/10578ce7eca64714b260b142553f34f5
+[05/26 04:22:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4809_ceiling.xml
+[05/26 04:22:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4809, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:22:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:22:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 106 objects
+[05/26 04:22:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:22:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:22:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:22:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:22:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:22:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular black guitar effects pedal and place it in or on the white bowl with facets'
+[05/26 04:22:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 4809 episode 0/1 collected=0/2
+[05/26 04:22:39 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:22:39 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_63fbcd680e0db93dfb0454951f2114f3_1_0_6 in scene
+[05/26 04:22:39 Worker 0 WARNING object_manager.py:1238] Could not find object objametalrod_6163f82aa93d4eaeb3acd9909e1f40f0_1_0_6 in scene
+[05/26 04:22:39 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_2_0_7 in scene
+[2026-05-26 04:24:09,048] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:28:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 4809 episode 0 object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 completed with success=False
+[05/26 04:28:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4809: 1 episodes
+[05/26 04:28:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:28:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:28:59 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4809
+[05/26 04:28:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4809 in 3.41s (batch: 3.25s, save: 0.16s)
+[05/26 04:29:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4809
+[05/26 04:29:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4809: 0/1 successful episodes
+[05/26 04:29:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4870 (index 21/35)
+[05/26 04:29:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4870 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_02
+[05/26 04:29:00 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%|          | 0/38 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 38/38 [00:00<00:00, 37239.15it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:01<00:02,  1.20s/it]
Extracting:  67%|██████▋   | 2/3 [00:02<00:01,  1.35s/it]
Extracting: 100%|██████████| 3/3 [00:04<00:00,  1.39s/it]
Extracting: 100%|██████████| 3/3 [00:04<00:00,  1.36s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/18 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 18/18 [00:00<00:00, 11989.43it/s]
+[05/26 04:29:06 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/292913530b1c41709ffc8685fbb9d55a
+[05/26 04:29:06 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/16bfd987e11444ca9c065718d49f5877
+[05/26 04:29:06 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/589cc33e26134e808392ac3e956ba868
+[05/26 04:29:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4870_ceiling.xml
+[05/26 04:29:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4870, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:29:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:29:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects
+[05/26 04:29:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:29:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:29:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:29:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:29:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:29:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the creamy beige candle and place it in or on the round black and gray ashtray'
+[05/26 04:29:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 4870 episode 0/1 collected=0/2
+[05/26 04:29:11 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:31:08,356] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:32:09 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 04:35:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 4870 episode 0 object objacandle_a4849fae6e164623a7883695426daa50_1_0_5 completed with success=False
+[05/26 04:35:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4870: 1 episodes
+[05/26 04:35:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:35:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:35:35 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4870
+[05/26 04:35:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4870 in 3.13s (batch: 3.02s, save: 0.11s)
+[05/26 04:35:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4870
+[05/26 04:35:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4870: 0/1 successful episodes
+[05/26 04:35:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4947 (index 22/35)
+[05/26 04:35:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4947 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_02
+[05/26 04:35:35 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'}}
+
Checking objects/objaverse:   0%|          | 0/22 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 22/22 [00:00<00:00, 26044.22it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/8 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 8/8 [00:00<00:00, 2473.24it/s]
+[05/26 04:35:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/3339ce474c3d4fb3a35952f476ca1e4a
+[05/26 04:35:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/53c885e05492439cace4cc626fec00cc
+[05/26 04:35:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/3b145885d881488887d90a98b3cde06f
+[05/26 04:35:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4947_ceiling.xml
+[05/26 04:35:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4947, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:35:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:35:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects
+[05/26 04:35:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:35:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:35:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:35:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:35:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:35:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pliers and place it in or on the bowl'
+[05/26 04:35:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 4947 episode 0/1 collected=0/2
+[05/26 04:35:43 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:36:48,643] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:39:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4947 episode 0 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_2 completed with success=False
+[05/26 04:39:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4947: 1 episodes
+[05/26 04:39:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:39:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:39:38 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4947
+[05/26 04:39:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4947 in 2.71s (batch: 2.56s, save: 0.15s)
+[05/26 04:39:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4947
+[05/26 04:39:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4947: 0/1 successful episodes
+[05/26 04:39:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4986 (index 23/35)
+[05/26 04:39:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4986 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_02
+[05/26 04:39:39 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%|          | 0/37 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 37/37 [00:00<00:00, 42988.71it/s]
+
Extracting:   0%|          | 0/6 [00:00<?, ?it/s]
Extracting:  17%|█▋        | 1/6 [00:01<00:07,  1.41s/it]
Extracting:  33%|███▎      | 2/6 [00:02<00:05,  1.42s/it]
Extracting:  50%|█████     | 3/6 [00:04<00:04,  1.43s/it]
Extracting:  67%|██████▋   | 4/6 [00:05<00:02,  1.34s/it]
Extracting:  83%|████████▎ | 5/6 [00:06<00:01,  1.36s/it]
Extracting: 100%|██████████| 6/6 [00:08<00:00,  1.35s/it]
Extracting: 100%|██████████| 6/6 [00:08<00:00,  1.37s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/21 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 21/21 [00:00<00:00, 16011.70it/s]
+[05/26 04:39:49 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/937044a40c3845bf88639056005b8a75
+[05/26 04:39:49 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/56dccb62700a4c04b42646e060c087f5
+[05/26 04:39:49 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_26
+[05/26 04:39:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4986_ceiling.xml
+[05/26 04:39:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4986, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:39:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:39:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects
+[05/26 04:39:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:39:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:39:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:39:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:39:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:39:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pixelated wooden hourglass and place it in or on the gray bowl'
+[05/26 04:39:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 4986 episode 0/1 collected=0/2
+[05/26 04:39:52 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object objatoybomb_1631526a79b44d3a96382b1802a59fb7_1_0_6 in scene
+[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object vase_e3478e74916159222cb33c5c329dc2b8_1_0_6 in scene
+[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object objapapertowelroll_d62583f82dfe46f0a8a8255d35a6de62_1_0_7 in scene
+[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object objasoap_539c979c75b34576b75f3383e96eadb5_1_0_7 in scene
+[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_8 in scene
+[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_8 in scene
+[2026-05-26 04:41:08,987] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:41:40 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 04:46:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4986 episode 0 object objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_9 completed with success=False
+[05/26 04:46:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4986: 1 episodes
+[05/26 04:46:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:46:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:46:18 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4986
+[05/26 04:46:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4986 in 2.54s (batch: 2.39s, save: 0.15s)
+[05/26 04:46:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4986
+[05/26 04:46:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4986: 0/1 successful episodes
+[05/26 04:46:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5045 (index 24/35)
+[05/26 04:46:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5045 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_02
+[05/26 04:46:18 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%|          | 0/55 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 55/55 [00:00<00:00, 31924.54it/s]
+
Extracting:   0%|          | 0/6 [00:00<?, ?it/s]
Extracting:  17%|█▋        | 1/6 [00:01<00:07,  1.47s/it]
Extracting:  33%|███▎      | 2/6 [00:02<00:05,  1.31s/it]
Extracting:  50%|█████     | 3/6 [00:03<00:03,  1.26s/it]
Extracting:  67%|██████▋   | 4/6 [00:05<00:02,  1.37s/it]
Extracting:  83%|████████▎ | 5/6 [00:06<00:01,  1.38s/it]
Extracting: 100%|██████████| 6/6 [00:07<00:00,  1.24s/it]
Extracting: 100%|██████████| 6/6 [00:07<00:00,  1.29s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/20 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 20/20 [00:00<00:00, 9687.73it/s]
+[05/26 04:46:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4
+[05/26 04:46:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Pot_18
+[05/26 04:46:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/93ef7da87b1e43fbb47f3b26b927f777
+[05/26 04:46:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5045_ceiling.xml
+[05/26 04:46:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5045, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:46:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:46:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects
+[05/26 04:46:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:46:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:46:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:46:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:46:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:46:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the brown preserved bird and place it in or on the blue ceramic pot with colorful face'
+[05/26 04:46:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 5045 episode 0/1 collected=0/2
+[05/26 04:46:35 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:46:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaframedportrait_117946e14b8545a69e962fce2b8a5022_1_0_8 in scene
+[05/26 04:46:35 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_63fbcd680e0db93dfb0454951f2114f3_1_0_8 in scene
+[2026-05-26 04:48:26,437] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:53:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 5045 episode 0 object objataxidermybird_843000ec4e604edbaa76946cd1a89501_1_0_2 completed with success=False
+[05/26 04:53:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5045: 1 episodes
+[05/26 04:53:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:53:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:53:10 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5045
+[05/26 04:53:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5045 in 2.79s (batch: 2.66s, save: 0.13s)
+[05/26 04:53:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5045
+[05/26 04:53:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5045: 0/1 successful episodes
+[05/26 04:53:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5059 (index 25/35)
+[05/26 04:53:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5059 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_02
+[05/26 04:53:11 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]
Checking objects/objaverse: 100%|██████████| 40/40 [00:00<00:00, 80235.37it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/21 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 21/21 [00:00<00:00, 75411.29it/s]
+[05/26 04:53:11 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_24
+[05/26 04:53:11 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Pot_18
+[05/26 04:53:11 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/d8bcf6509a5d40378f2baec03bf551a5
+[05/26 04:53:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5059_ceiling.xml
+[05/26 04:53:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5059, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:53:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:53:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects
+[05/26 04:53:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:53:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:53:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:53:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:53:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:53:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ornate hand mirror and place it in or on the blue cooking pot'
+[05/26 04:53:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 5059 episode 0/2 collected=0/2
+[05/26 04:53:15 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:54:30,905] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:54:53 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 05:01:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5059 episode 0 object objahandmirror_a3348d3e4a674350af738e8cf20ec378_1_0_5 completed with success=False
+[05/26 05:01:39 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]
Checking objects/objaverse: 100%|██████████| 40/40 [00:00<00:00, 49200.05it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/21 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 21/21 [00:00<00:00, 49483.36it/s]
+[05/26 05:01:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_24
+[05/26 05:01:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Pot_18
+[05/26 05:01:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/d8bcf6509a5d40378f2baec03bf551a5
+[05/26 05:01:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5059_ceiling.xml
+[05/26 05:01:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5059, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:01:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:01:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects
+[05/26 05:01:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:01:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:01:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:01:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:01:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:01:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black metal scope mount with knob and place it in or on the small wooden box with metal latch'
+[05/26 05:01:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 5059 episode 1/2 collected=1/2
+[05/26 05:01:46 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:03:29,100] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:04:09 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 05:07:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5059 episode 1 object objascopemount_97d5328f85dd40cfaec1aed7a00164f3_1_0_4 completed with success=False
+[05/26 05:07:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5059: 2 episodes
+[05/26 05:07:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:07:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:07:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:07:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:07:35 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5059
+[05/26 05:07:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5059 in 6.55s (batch: 6.31s, save: 0.24s)
+[05/26 05:07:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5059
+[05/26 05:07:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5059: 0/2 successful episodes
+[05/26 05:07:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5128 (index 26/35)
+[05/26 05:07:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5128 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_02
+[05/26 05:07:36 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%|          | 0/36 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 36/36 [00:00<00:00, 37909.85it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:01<00:02,  1.35s/it]
Extracting:  67%|██████▋   | 2/3 [00:02<00:01,  1.24s/it]
Extracting: 100%|██████████| 3/3 [00:03<00:00,  1.30s/it]
Extracting: 100%|██████████| 3/3 [00:03<00:00,  1.30s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/22 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 22/22 [00:00<00:00, 8751.39it/s]
+[05/26 05:07:43 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/03f1185ff6d4428fa81f6fc9db589338
+[05/26 05:07:43 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/c44ac768e7304df58ebf13ba4c6eed11
+[05/26 05:07:43 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0
+[05/26 05:07:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5128_ceiling.xml
+[05/26 05:07:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5128, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:07:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:07:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects
+[05/26 05:07:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:07:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:07:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:07:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:07:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:07:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rusty tool and place it in or on the round wooden bowl with grain pattern'
+[05/26 05:07:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 5128 episode 0/1 collected=0/2
+[05/26 05:07:47 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 05:07:48 Worker 0 WARNING object_manager.py:1238] Could not find object objajewelry_5d13ef83fc9f496fb99b97e4f0e5e610_1_0_3 in scene
+[05/26 05:07:48 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_fd2d9721dc3a4fc6841e38f30fbad6c0_1_0_3 in scene
+[05/26 05:07:48 Worker 0 WARNING object_manager.py:1238] Could not find object objatoothmodel_7e325316ef424bc6b71ee680528b6eeb_1_0_4 in scene
+[05/26 05:07:48 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_4 in scene
+[2026-05-26 05:10:04,527] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:11:49 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 05:16:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 5128 episode 0 object objahandtool_7985f67d4f204df78904cd50b73cbf0f_1_0_2 completed with success=False
+[05/26 05:16:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5128: 1 episodes
+[05/26 05:16:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:16:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:16:55 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5128
+[05/26 05:16:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5128 in 3.02s (batch: 2.88s, save: 0.14s)
+[05/26 05:16:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5128
+[05/26 05:16:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5128: 0/1 successful episodes
+[05/26 05:16:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5169 (index 27/35)
+[05/26 05:16:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5169 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_02
+[05/26 05:16:56 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'}}
+
Checking objects/objaverse:   0%|          | 0/9 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 9/9 [00:00<00:00, 21896.02it/s]
+[05/26 05:16:58 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/1df7263c6e094645987c61c5d60e67d5
+[05/26 05:16:58 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/b4e33154ce3a40e4bd2b34f8de4f548c
+[05/26 05:16:58 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/53c885e05492439cace4cc626fec00cc
+[05/26 05:17:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5169_ceiling.xml
+[05/26 05:17:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5169, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:17:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:17:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects
+[05/26 05:17:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:17:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:17:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:17:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:17:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:17:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the t-shaped metal pipe cutter and place it in or on the round frosted glass bowl with interior'
+[05/26 05:17:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 5169 episode 0/1 collected=0/2
+[05/26 05:17:00 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:19:07,593] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:22:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5169 episode 0 object objapipecutter_9113b144802144b683d8db86f7d7388c_2_0_2 completed with success=False
+[05/26 05:22:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5169: 1 episodes
+[05/26 05:22:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:22:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:22:29 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5169
+[05/26 05:22:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5169 in 3.12s (batch: 2.99s, save: 0.13s)
+[05/26 05:22:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5169
+[05/26 05:22:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5169: 0/1 successful episodes
+[05/26 05:22:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5232 (index 28/35)
+[05/26 05:22:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5232 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_02
+[05/26 05:22:30 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%|          | 0/19 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 19/19 [00:00<00:00, 27981.66it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:01<00:02,  1.26s/it]
Extracting:  67%|██████▋   | 2/3 [00:02<00:01,  1.39s/it]
Extracting: 100%|██████████| 3/3 [00:04<00:00,  1.52s/it]
Extracting: 100%|██████████| 3/3 [00:04<00:00,  1.47s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/8 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 8/8 [00:00<00:00, 5278.34it/s]
+[05/26 05:22:36 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/63211cbfb48044bcbdbbd30a3aa3bb75
+[05/26 05:22:36 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/e9670b35612840bd92354dd8936d3c6a
+[05/26 05:22:36 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/0cb14e8a04de4c39ac8714a98fba9883
+[05/26 05:22:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5232_ceiling.xml
+[05/26 05:22:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5232, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:22:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:22:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects
+[05/26 05:22:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:22:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:22:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:22:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:22:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:22:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white rectangular domino piece and place it in or on the sculptural bowl with earthy texture'
+[05/26 05:22:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 5232 episode 0/1 collected=0/2
+[05/26 05:22:39 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:24:46,797] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:26:11 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 05:33:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 5232 episode 0 object objadomino_c97ea56f249340cea90c4f66e84108dc_1_0_7 completed with success=False
+[05/26 05:33:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5232: 1 episodes
+[05/26 05:33:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:33:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:33:56 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5232
+[05/26 05:33:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5232 in 3.56s (batch: 3.31s, save: 0.25s)
+[05/26 05:33:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5232
+[05/26 05:33:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5232: 0/1 successful episodes
+[05/26 05:33:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5297 (index 29/35)
+[05/26 05:33:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5297 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_02
+[05/26 05:33:57 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, 28669.20it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/10 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 10/10 [00:00<00:00, 1257.93it/s]
+[05/26 05:34:02 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Pot_12
+[05/26 05:34:02 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/cfe3c9eed1554f59ad7756e27d97c667
+[05/26 05:34:02 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/01395fa3a8e54abc8c32a016b2d8c5f5
+[05/26 05:34:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5297_ceiling.xml
+[05/26 05:34:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5297, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:34:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:34:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects
+[05/26 05:34:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:34:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:34:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:34:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:34:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:34:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the triangular golden chain with links and place it in or on the shallow ceramic dish with handle and pattern'
+[05/26 05:34:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 5297 episode 0/1 collected=0/2
+[05/26 05:34:06 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:36:13,639] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:40:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 5297 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_7 completed with success=False
+[05/26 05:40:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5297: 1 episodes
+[05/26 05:40:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:41:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:41:02 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5297
+[05/26 05:41:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5297 in 3.04s (batch: 2.92s, save: 0.12s)
+[05/26 05:41:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5297
+[05/26 05:41:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5297: 0/1 successful episodes
+[05/26 05:41:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5384 (index 30/35)
+[05/26 05:41:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5384 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_02
+[05/26 05:41:02 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'}}
+
Checking objects/objaverse:   0%|          | 0/33 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 33/33 [00:00<00:00, 38792.61it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/10 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 10/10 [00:00<00:00, 45442.08it/s]
+[05/26 05:41:06 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/f8b3d867de194e6cb587c89d54ed8f0e
+[05/26 05:41:06 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/934bd78c490140198db542aee7f765fa
+[05/26 05:41:06 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/2911e8c87d49402c9e3c18277c8b2b2a
+[05/26 05:41:06 Worker 0 INFO scene_maps.py:66] Deleted 1 blacklisted bodies from scene
+[05/26 05:41:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5384_ceiling.xml
+[05/26 05:41:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5384, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:41:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:41:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects
+[05/26 05:41:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:41:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:41:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:41:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:41:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:41:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the vintage folding camera and place it in or on the rustic round gray clay bowl'
+[05/26 05:41:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 5384 episode 0/1 collected=0/2
+[05/26 05:41:10 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 05:41:11 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene
+[2026-05-26 05:43:21,401] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:50:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 5384 episode 0 object objavintagecamera_0e0b88c0baf8434fbd236ee93dc8d107_1_0_6 completed with success=False
+[05/26 05:50:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5384: 1 episodes
+[05/26 05:50:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:50:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:50:50 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5384
+[05/26 05:50:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5384 in 3.76s (batch: 3.61s, save: 0.16s)
+[05/26 05:50:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5384
+[05/26 05:50:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5384: 0/1 successful episodes
+[05/26 05:50:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5431 (index 31/35)
+[05/26 05:50:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5431 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_02
+[05/26 05:50:50 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'}}
+
Checking objects/objaverse:   0%|          | 0/24 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 24/24 [00:00<00:00, 34053.89it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/7 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 7/7 [00:00<00:00, 27084.99it/s]
+[05/26 05:51:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/44f5be7685c1439c85cf9bc36e78578a
+[05/26 05:51:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/80f09dd8b3d34005b3625823091978af
+[05/26 05:51:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/b54b110dfccb4ea3a8f5a06cc65edc5a
+[05/26 05:51:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5431_ceiling.xml
+[05/26 05:51:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5431, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:51:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:51:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects
+[05/26 05:51:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:51:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:51:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:51:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:51:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:51:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the vintage metallic desk calendar and place it in or on the tan bowl with dark patterns'
+[05/26 05:51:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 5431 episode 0/1 collected=0/2
+[05/26 05:51:06 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:53:05,419] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:54:29 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 05:58:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 5431 episode 0 object objadeskcalendar_c0ddec650d304adbb5d6730f43205dda_1_0_7 completed with success=False
+[05/26 05:58:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5431: 1 episodes
+[05/26 05:58:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:58:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:58:23 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5431
+[05/26 05:58:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5431 in 3.18s (batch: 2.99s, save: 0.19s)
+[05/26 05:58:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5431
+[05/26 05:58:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5431: 0/1 successful episodes
+[05/26 05:58:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5474 (index 32/35)
+[05/26 05:58:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5474 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_02
+[05/26 05:58:23 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%|          | 0/24 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 24/24 [00:00<00:00, 32367.62it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/12 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 12/12 [00:00<00:00, 2079.82it/s]
+[05/26 05:58:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_7
+[05/26 05:58:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/5efb7a6940894b5a835b4de2f3cf1559
+[05/26 05:58:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/5c5c3b9ae7874b709c10ac57dad33195
+[05/26 05:58:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5474_ceiling.xml
+[05/26 05:58:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5474, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:58:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:58:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects
+[05/26 05:58:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:58:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:58:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:58:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:58:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:58:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tradingcard and place it in or on the faceted green striped bowl'
+[05/26 05:58:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 5474 episode 0/1 collected=0/2
+[05/26 05:58:32 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:00:10,328] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:00:45 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 06:02:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 5474 episode 0 object objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_6 completed with success=False
+[05/26 06:02:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5474: 1 episodes
+[05/26 06:02:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:02:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:02:57 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5474
+[05/26 06:02:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5474 in 2.70s (batch: 2.57s, save: 0.14s)
+[05/26 06:02:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5474
+[05/26 06:02:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5474: 0/1 successful episodes
+[05/26 06:02:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5505 (index 33/35)
+[05/26 06:02:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5505 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_02
+[05/26 06:02:58 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%|          | 0/44 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 44/44 [00:00<00:00, 49030.12it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:01<00:03,  1.04s/it]
Extracting:  50%|█████     | 2/4 [00:02<00:01,  1.01it/s]
Extracting:  75%|███████▌  | 3/4 [00:03<00:01,  1.17s/it]
Extracting: 100%|██████████| 4/4 [00:04<00:00,  1.14s/it]
Extracting: 100%|██████████| 4/4 [00:04<00:00,  1.12s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/21 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 21/21 [00:00<00:00, 6864.12it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:00<00:01,  1.48it/s]
Extracting:  67%|██████▋   | 2/3 [00:01<00:00,  1.64it/s]
Extracting: 100%|██████████| 3/3 [00:01<00:00,  1.72it/s]
Extracting: 100%|██████████| 3/3 [00:01<00:00,  1.68it/s]
+[05/26 06:03:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/ac3628478f6c4042a16e77d6753fa413
+[05/26 06:03:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/94f253a91bc14f21be83592faf5891ff
+[05/26 06:03:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/9605b2b278774b5bb4e486695e6d920a
+[05/26 06:03:05 Worker 0 INFO scene_maps.py:66] Deleted 1 blacklisted bodies from scene
+[05/26 06:03:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5505_ceiling.xml
+[05/26 06:03:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5505, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:03:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:03:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects
+[05/26 06:03:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:03:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:03:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:03:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:03:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:03:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the wooden beaver carving and place it in or on the rustic bowl with chipped rim'
+[05/26 06:03:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 5505 episode 0/1 collected=0/2
+[05/26 06:03:10 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 06:03:10 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_9f8a86701e5549c6bf6004b4f58bdd31_1_0_5 in scene
+[05/26 06:03:10 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene
+[05/26 06:03:10 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyrocket_b9bdbba91b454caa8f8c82b946ded428_1_0_8 in scene
+[05/26 06:03:10 Worker 0 WARNING object_manager.py:1238] Could not find object objacomputermouse_c4c6d54694f3481eb60235314cbf2dc9_1_0_8 in scene
+[2026-05-26 06:05:00,284] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:06:06 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 06:13:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 5505 episode 0 object objawoodencarving_6589b07c9b2d49778e08d7e6110c04c6_1_0_9 completed with success=False
+[05/26 06:14:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5505: 1 episodes
+[05/26 06:14:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:14:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:14:07 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5505
+[05/26 06:14:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5505 in 3.25s (batch: 3.12s, save: 0.13s)
+[05/26 06:14:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5505
+[05/26 06:14:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5505: 0/1 successful episodes
+[05/26 06:14:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5541 (index 34/35)
+[05/26 06:14:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5541 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_02
+[05/26 06:14:08 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%|          | 0/45 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 45/45 [00:00<00:00, 43893.88it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/16 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 16/16 [00:00<00:00, 8146.26it/s]
+[05/26 06:14:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/12ca824c9c81470d994ceccb4b5a9061
+[05/26 06:14:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/976f5b6e9a1344628642051f680b176b
+[05/26 06:14:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_19
+[05/26 06:14:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5541_ceiling.xml
+[05/26 06:14:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5541, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:14:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:14:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects
+[05/26 06:14:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:14:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:14:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:14:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:14:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:14:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green floral wedding invitation card and place it in or on the pixelated bowl filled with ramen'
+[05/26 06:14:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 5541 episode 0/1 collected=0/2
+[05/26 06:14:17 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 06:14:17 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene
+[05/26 06:14:17 Worker 0 WARNING object_manager.py:1238] Could not find object objasealanttube_75f15adc55404069bf598155d12d0ebd_1_0_5 in scene
+[05/26 06:14:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_7 in scene
+[2026-05-26 06:16:06,067] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:16:46 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 06:22:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5541 episode 0 object objainvitationcard_e73597e02fef49fd988cbda0d6abe53b_1_0_8 completed with success=False
+[05/26 06:22:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5541: 1 episodes
+[05/26 06:22:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:22:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:22:08 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5541
+[05/26 06:22:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5541 in 3.01s (batch: 2.89s, save: 0.12s)
+[05/26 06:22:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5541
+[05/26 06:22:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5541: 0/1 successful episodes
+[05/26 06:22:08 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses
+[05/26 06:22:09 INFO pipeline.py:1496] Completed 35 houses, skipped 0 houses
+[05/26 06:22:09 INFO pipeline.py:1499] Success count: 0, Total count: 39
+[05/26 06:22:09 INFO pipeline.py:1500] Success rate: 0.00%
+Combined 39 episodes from 35 files → /tmp/tmpqpngflxq.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_02/eval/results.csv at-end: 0.0% | oracle: 0.0% of 39 episodes
+[2026-05-26 06:22:14,689] INFO MolmoSpaces simulator eval finished: success=0/39 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_02/eval
+[2026-05-26 06:22:14,690] 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_02/eval/results.csv
diff --git a/pnp_v2/pnp_v2/shards/shard_02/eval/eval_meta.json b/pnp_v2/pnp_v2/shards/shard_02/eval/eval_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05dff7a0ae06b94e1eb16e2de538e875292cbb96
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_02/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_02",
+  "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_02/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_02 --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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452",
+  "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_02/eval/results.csv"
+}
diff --git a/pnp_v2/pnp_v2/shards/shard_02/eval/results.csv b/pnp_v2/pnp_v2/shards/shard_02/eval/results.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec355474884511a711b63e141ffbbc4bb20d50df
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_02/eval/results.csv
@@ -0,0 +1,43 @@
+# 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452
+# 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,Irishpotato,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,32.690831,19.350624
+latest,Objaadjustablewrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.857723,0.0
+latest,Objaalarmclock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,8.205044,0.0
+latest,Objacan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.675332,0.0
+latest,Objacandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.650545,0.0
+latest,Objaclimbingshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.036716,0.0
+latest,Objacompass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.595025,0.0
+latest,Objadecorativebell,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.52578,0.0
+latest,Objadecorativechain,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.291312,0.0
+latest,Objadecorativeelement,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.122546,0.0
+latest,Objadecorativetext,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.108656,0.0
+latest,Objadecorativewand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,89.001809,0.0
+latest,Objadeskcalendar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.201275,0.0
+latest,Objadisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.201539,0.0
+latest,Objadomino,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.138223,0.0
+latest,Objadoorlock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,45.07486,0.0
+latest,Objaguitareffectspedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.778936,0.0
+latest,Objahandmirror,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,107.622292,0.0
+latest,Objahandtool,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,28.899682,15.285806
+latest,Objahourglass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.884883,0.0
+latest,Objainsect,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.173358,0.0
+latest,Objainvitationcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.415235,0.0
+latest,Objalever,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,165.318796,0.0
+latest,Objanecklace,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.285549,0.0
+latest,Objaneedlenosepliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.504138,0.0
+latest,Objapackagedfood,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.614849,0.0
+latest,Objapipecutter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.410138,0.0
+latest,Objascopemount,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.699857,0.0
+latest,Objasymbol,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.899295,0.0
+latest,Objataxidermybird,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.748205,0.0
+latest,Objatoysword,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,19.696742,0.0
+latest,Objatoytraincar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.209891,0.0
+latest,Objatradingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.288038,0.0
+latest,Objatrowel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,80.90051,0.0
+latest,Objavintagecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.452504,0.0
+latest,Objawalkietalkie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.363754,0.0
+latest,Objawoodencarving,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.670809,0.0
+latest,OVERALL,0,39,0.0,0.06,8.81,0,0.0,0.06,8.81,42.12321,29.735401
diff --git a/pnp_v2/pnp_v2/shards/shard_02/eval/summary.json b/pnp_v2/pnp_v2/shards/shard_02/eval/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..8276e50822b2366360553c0fbf6bae71ceaddf69
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_02/eval/summary.json
@@ -0,0 +1,122 @@
+{
+  "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_02",
+  "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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452",
+  "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": 39.0,
+    "avg_episode_length": 449.0,
+    "oracle_done_rate": 0.0,
+    "success_rate_pct": 0.0,
+    "oracle_rate_pct": 0.0
+  },
+  "stats": {
+    "total_episodes": 39,
+    "success_count": 0,
+    "failure_count": 39,
+    "success_rate": 0.0,
+    "avg_episode_length": 449.0,
+    "min_episode_length": 449,
+    "max_episode_length": 449,
+    "num_houses": 35,
+    "house_success_rates": {
+      "house_3935": 0.0,
+      "house_3954": 0.0,
+      "house_3992": 0.0,
+      "house_4025": 0.0,
+      "house_4085": 0.0,
+      "house_4150": 0.0,
+      "house_4231": 0.0,
+      "house_4290": 0.0,
+      "house_4334": 0.0,
+      "house_4350": 0.0,
+      "house_4383": 0.0,
+      "house_4425": 0.0,
+      "house_4500": 0.0,
+      "house_4549": 0.0,
+      "house_4615": 0.0,
+      "house_4661": 0.0,
+      "house_4705": 0.0,
+      "house_4745": 0.0,
+      "house_4781": 0.0,
+      "house_4783": 0.0,
+      "house_4809": 0.0,
+      "house_4870": 0.0,
+      "house_4947": 0.0,
+      "house_4986": 0.0,
+      "house_5045": 0.0,
+      "house_5059": 0.0,
+      "house_5128": 0.0,
+      "house_5169": 0.0,
+      "house_5232": 0.0,
+      "house_5297": 0.0,
+      "house_5384": 0.0,
+      "house_5431": 0.0,
+      "house_5474": 0.0,
+      "house_5505": 0.0,
+      "house_5541": 0.0
+    },
+    "oracle_done_count": 0,
+    "oracle_done_rate": 0.0
+  },
+  "success_count": 0,
+  "total_count": 39,
+  "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_02/eval/results.csv",
+  "csv_overall_row": {
+    "policy": "latest",
+    "category": "OVERALL",
+    "successes": 0,
+    "total": 39,
+    "success_rate_pct": 0.0,
+    "ci_95_low_pct": 0.06,
+    "ci_95_high_pct": 8.81,
+    "oracle_successes": 0,
+    "oracle_rate_pct": 0.0,
+    "oracle_ci_95_low_pct": 0.06,
+    "oracle_ci_95_high_pct": 8.81,
+    "jerk_joint_mean": 42.12321,
+    "jerk_joint_std": 29.735401
+  },
+  "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_02/submission/episode_results.jsonl b/pnp_v2/pnp_v2/shards/shard_02/submission/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..517d16d222f0f07eb0285f771d4ed71c8ae37288
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_02/submission/episode_results.jsonl
@@ -0,0 +1,39 @@
+{"house_id": "house_3935", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the packaged chocolate cake with strawberries and place it in or on the blue patterned bowl", "object_name": "objapackagedfood_47feb02b3b2b4f2e8c7154d3682817a2_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3935/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3935", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage compass with needle pointing north and place it in or on the translucent smooth glass conical bowl", "object_name": "objacompass_8de466ea26ab43cdadcf67d86344052a_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3935/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3954", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the elongated brown potato and place it in or on the shallow bowl with rim", "object_name": "Irishpotato_361f25dfd6f7907d2065fffb6e0c6649_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3954/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3992", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray and yellow climbing shoe and place it in or on the glossy blue and brown bowl", "object_name": "objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3992/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4025", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red and white soup can and place it in or on the white bowl with blue", "object_name": "objacan_e0976ef0e465417a816b142387f41765_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4025/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4085", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy red 3d adventure time text and place it in or on the light brown ceramic bowl", "object_name": "objadecorativetext_55e23bd0f4014b90be7d1a5bc9a69172_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4085/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4150", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the stylized animal head pendant and place it in or on the tableware", "object_name": "objanecklace_b4d304759a1b49849f84e53a31190c7c_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4150/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4231", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal adjustable wrench and place it in or on the rustic terracotta bowl", "object_name": "objaadjustablewrench_920576578b384b27b5c3e9bf36220c88_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4231/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4290", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray train and place it in or on the dark teal box", "object_name": "objatoytraincar_c5f7b90d80aa4ae18100ed5616179406_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4290/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4334", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished metal door lock and place it in or on the rectangular box with patterned lid", "object_name": "objadoorlock_3d56a40e1bae492b89072f71651d2d63_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4334/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4334", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink wand with red sphere and place it in or on the rectangular box with patterned lid", "object_name": "objadecorativewand_612582bc490a4353ba468a9839bf9119_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4334/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4350", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray sword with blue and brown hilt and place it in or on the sculptural bowl with earthy texture", "object_name": "objatoysword_34640d52951443888e0bb0dc99f993c5_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4350/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4383", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown potato and place it in or on the round gray handmade shallow bowl", "object_name": "Irishpotato_19522f313a33f0a662dcc0b1aa19547c_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4383/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4425", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black honeycomb wave structure with hinge and place it in or on the brown rustic ceramic bowl", "object_name": "objadecorativeelement_4b009fce74c64110b521f91692a4867f_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4425/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4500", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hollow gradient gender symbol with cross and place it in or on the glossy ceramic bowl hemispherical", "object_name": "objasymbol_5742a3cd3a124f88bb061418ddc6db2b_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4500/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4549", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the means and place it in or on the round textured bowl", "object_name": "objalever_5d821ac7148240c092c4face44c1d096_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4549/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4615", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the broad metal trowel with cylindrical handle and place it in or on the shallow wide gray ceramic bowl", "object_name": "objatrowel_41e5faac18994f0b9f14a515e9662354_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4615/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4661", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red walkie-talkie with antenna and place it in or on the earth map bowl", "object_name": "objawalkietalkie_8b08a40f337644cb8ceef52be1eb824f_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4661/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4705", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the slender wooden handled awl and place it in or on the container", "object_name": "objahandtool_61b9c84deee940f1bf2c6125f96c40e5_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4705/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4745", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow bee and place it in or on the round gray ceramic bowl", "object_name": "objainsect_b6dbcdac7cc34379b22ff3099fa4bf5a_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4745/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4781", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate bronze bell with claw base and place it in or on the transparent glass ashtray with faceted edges", "object_name": "objadecorativebell_82a59a8d2fed401ea8a9681ce7cfc3b0_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4781/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4783", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the disk and place it in or on the round bowl with dark band", "object_name": "objadisc_5766095a480e444da6185a24f8f17840_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4783/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4783", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the classic orange twin-bell alarm clock and place it in or on the jade green patterned bowl", "object_name": "objaalarmclock_71ab3427ad1142718af2ee8feb85c5fd_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4783/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4809", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular black guitar effects pedal and place it in or on the white bowl with facets", "object_name": "objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4809/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4870", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the creamy beige candle and place it in or on the round black and gray ashtray", "object_name": "objacandle_a4849fae6e164623a7883695426daa50_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4870/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4947", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pliers and place it in or on the bowl", "object_name": "objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4947/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4986", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pixelated wooden hourglass and place it in or on the gray bowl", "object_name": "objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4986/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5045", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown preserved bird and place it in or on the blue ceramic pot with colorful face", "object_name": "objataxidermybird_843000ec4e604edbaa76946cd1a89501_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5045/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5059", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate hand mirror and place it in or on the blue cooking pot", "object_name": "objahandmirror_a3348d3e4a674350af738e8cf20ec378_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5059/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5059", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black metal scope mount with knob and place it in or on the small wooden box with metal latch", "object_name": "objascopemount_97d5328f85dd40cfaec1aed7a00164f3_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5059/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5128", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty tool and place it in or on the round wooden bowl with grain pattern", "object_name": "objahandtool_7985f67d4f204df78904cd50b73cbf0f_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5128/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5169", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the t-shaped metal pipe cutter and place it in or on the round frosted glass bowl with interior", "object_name": "objapipecutter_9113b144802144b683d8db86f7d7388c_2_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5169/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5232", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular domino piece and place it in or on the sculptural bowl with earthy texture", "object_name": "objadomino_c97ea56f249340cea90c4f66e84108dc_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5232/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5297", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the triangular golden chain with links and place it in or on the shallow ceramic dish with handle and pattern", "object_name": "objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5297/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5384", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage folding camera and place it in or on the rustic round gray clay bowl", "object_name": "objavintagecamera_0e0b88c0baf8434fbd236ee93dc8d107_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5384/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5431", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metallic desk calendar and place it in or on the tan bowl with dark patterns", "object_name": "objadeskcalendar_c0ddec650d304adbb5d6730f43205dda_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5431/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5474", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tradingcard and place it in or on the faceted green striped bowl", "object_name": "objatradingcard_90d980fb471f440aa1d16866c79c61f7_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5474/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5505", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden beaver carving and place it in or on the rustic bowl with chipped rim", "object_name": "objawoodencarving_6589b07c9b2d49778e08d7e6110c04c6_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5505/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5541", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green floral wedding invitation card and place it in or on the pixelated bowl filled with ramen", "object_name": "objainvitationcard_e73597e02fef49fd988cbda0d6abe53b_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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5541/trajectories_batch_1_of_1.h5", "metadata": {}}
diff --git a/pnp_v2/pnp_v2/shards/shard_02/submission/eval.log b/pnp_v2/pnp_v2/shards/shard_02/submission/eval.log
new file mode 100644
index 0000000000000000000000000000000000000000..ddd0db05ac7b7d4b642e3250b6a7be4a097720b7
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_02/submission/eval.log
@@ -0,0 +1,1408 @@
+[2026-05-26 01:03:53,183] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath']
+[2026-05-26 01:03:53,257] INFO Selected MuJoCo backend: egl
+[2026-05-26 01:03:53,269] 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_02 (source=arg)
+[2026-05-26 01:03:56,049] 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 01:04:18,740] 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 01:04:48,845] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini']
+[2026-05-26 01:04:48,848] INFO Using save_video_sensors=['__none__']
+[2026-05-26 01:04:52,542] 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 01:04:52,644] INFO Using explicit task_horizon override: 450 steps
+[05/26 01:04:52 INFO pipeline.py:677] WandB logging disabled (environment variables not set)
+[2026-05-26 01:04:52,697] INFO JsonEvalRunner initialized: 35 houses, 39 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_02
+[05/26 01:04:52 INFO pipeline.py:1279] Starting house-by-house rollout of 35 houses with 2 episodes each (70 total episodes) using 1 worker processes
+[05/26 01:04:52 INFO pipeline.py:1286] Evaluation configuration:
+[05/26 01:04:52 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_02'),
+ '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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452'),
+ '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': [3935,
+                                        3954,
+                                        3992,
+                                        4025,
+                                        4085,
+                                        4150,
+                                        4231,
+                                        4290,
+                                        4334,
+                                        4350,
+                                        4383,
+                                        4425,
+                                        4500,
+                                        4549,
+                                        4615,
+                                        4661,
+                                        4705,
+                                        4745,
+                                        4781,
+                                        4783,
+                                        4809,
+                                        4870,
+                                        4947,
+                                        4986,
+                                        5045,
+                                        5059,
+                                        5128,
+                                        5169,
+                                        5232,
+                                        5297,
+                                        5384,
+                                        5431,
+                                        5474,
+                                        5505,
+                                        5541],
+                         '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 01:04:52,720] 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452
+[05/26 01:04:52 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler
+[05/26 01:04:52 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 01:04:52 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler
+[05/26 01:04:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3935 (index 0/35)
+[05/26 01:04:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3935 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_02
+[05/26 01:04:52 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%|          | 0/28 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 28/28 [00:00<00:00, 64315.72it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/15 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 15/15 [00:00<00:00, 23493.11it/s]
+[05/26 01:05:00 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_16
+[05/26 01:05:00 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/1ef337c5cfda4d368ceb154c0e9fae0e
+[05/26 01:05:00 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_30
+[05/26 01:05:00 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+WARNING:2026-05-26 01:05:11,438: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 01:05:11,438] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu.
+[05/26 01:05:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3935_ceiling.xml
+[05/26 01:05:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3935, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:05:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:05:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects
+[05/26 01:05:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:05:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:05:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:05:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:05:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:05:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the packaged chocolate cake with strawberries and place it in or on the blue patterned bowl'
+[05/26 01:05:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 3935 episode 0/2 collected=0/2
+[05/26 01:05:14 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:05:16 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene
+[05/26 01:05:16 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_f22bbabd422c43ccba260d2f43bd7d80_1_0_5 in scene
+2026-05-26 01:05:17.833 | INFO     | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0
+[2026-05-26 01:05:44,336] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k)
+[2026-05-26 01:05:46,017] 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 01:07:40,727] INFO Number of parameters in DiT: 1.821428e+07
+[2026-05-26 01:07:58,408] 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 01:07:58,411] 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 01:08:02 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 01:14:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 3935 episode 0 object objapackagedfood_47feb02b3b2b4f2e8c7154d3682817a2_1_0_6 completed with success=False
+[05/26 01:14:56 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'}}
+
Checking objects/objaverse:   0%|          | 0/28 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 28/28 [00:00<00:00, 65719.37it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/15 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 15/15 [00:00<00:00, 38788.26it/s]
+[05/26 01:16:09 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_16
+[05/26 01:16:09 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/1ef337c5cfda4d368ceb154c0e9fae0e
+[05/26 01:16:09 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_30
+[05/26 01:16:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3935_ceiling.xml
+[05/26 01:16:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3935, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:16:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:16:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects
+[05/26 01:16:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:16:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:16:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:16:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:16:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:16:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the vintage compass with needle pointing north and place it in or on the translucent smooth glass conical bowl'
+[05/26 01:16:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 3935 episode 1/2 collected=1/2
+[05/26 01:16:16 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:16:16 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene
+[05/26 01:16:16 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_f22bbabd422c43ccba260d2f43bd7d80_1_0_5 in scene
+[05/26 01:20:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 3935 episode 1 object objacompass_8de466ea26ab43cdadcf67d86344052a_1_0_4 completed with success=False
+[05/26 01:20:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3935: 2 episodes
+[05/26 01:20:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:20:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:20:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:20:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:20:51 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3935
+[05/26 01:20:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3935 in 9.01s (batch: 8.64s, save: 0.36s)
+[05/26 01:20:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3935
+[05/26 01:20:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3935: 0/2 successful episodes
+[05/26 01:20:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3954 (index 1/35)
+[05/26 01:20:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3954 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_02
+[05/26 01:20:52 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, 1278.92it/s]
+[05/26 01:20:53 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/3b145885d881488887d90a98b3cde06f
+[05/26 01:20:53 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/16bfd987e11444ca9c065718d49f5877
+[05/26 01:20:53 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/976f5b6e9a1344628642051f680b176b
+[05/26 01:20:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3954_ceiling.xml
+[05/26 01:20:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3954, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:20:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:20:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects
+[05/26 01:20:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:20:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:20:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:20:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:20:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:20:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the elongated brown potato and place it in or on the shallow bowl with rim'
+[05/26 01:20:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 3954 episode 0/1 collected=0/2
+[05/26 01:20:57 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:22:04 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 01:25:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 3954 episode 0 object Irishpotato_361f25dfd6f7907d2065fffb6e0c6649_1_0_2 completed with success=False
+[05/26 01:25:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3954: 1 episodes
+[05/26 01:25:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:25:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:25:12 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3954
+[05/26 01:25:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3954 in 2.39s (batch: 2.30s, save: 0.09s)
+[05/26 01:25:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3954
+[05/26 01:25:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3954: 0/1 successful episodes
+[05/26 01:25:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3992 (index 2/35)
+[05/26 01:25:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3992 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_02
+[05/26 01:25:13 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%|          | 0/54 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 54/54 [00:00<00:00, 43083.97it/s]
+
Extracting:   0%|          | 0/5 [00:00<?, ?it/s]
Extracting:  20%|██        | 1/5 [00:17<01:08, 17.12s/it]
Extracting:  40%|████      | 2/5 [00:43<01:07, 22.59s/it]
Extracting:  60%|██████    | 3/5 [01:29<01:06, 33.34s/it]
Extracting:  80%|████████  | 4/5 [01:42<00:25, 25.10s/it]
Extracting: 100%|██████████| 5/5 [01:48<00:00, 18.28s/it]
Extracting: 100%|██████████| 5/5 [01:48<00:00, 21.67s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/17 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 17/17 [00:00<00:00, 73889.29it/s]
+[05/26 01:30:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/2b5fd8656f2b43cba43cb0e25a2cb838
+[05/26 01:30:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/af838119a5a14e6ea3cc7e6cb53e2bd8
+[05/26 01:30:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/4c75946736424e5397f4eadd336e0bf1
+[05/26 01:30:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3992_ceiling.xml
+[05/26 01:30:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3992, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:30:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:30:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 81 objects
+[05/26 01:30:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:30:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:30:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:30:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:30:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:30:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray and yellow climbing shoe and place it in or on the glossy blue and brown bowl'
+[05/26 01:30:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 3992 episode 0/1 collected=0/2
+[05/26 01:30:44 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 01:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objasyringe_0720be3e0ae84b319e90e6c7986e27dd_1_0_4 in scene
+[05/26 01:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_4 in scene
+[05/26 01:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene
+[05/26 01:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_5 in scene
+[2026-05-26 01:31:46,132] 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 01:35:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 3992 episode 0 object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_5 completed with success=False
+[05/26 01:36:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3992: 1 episodes
+[05/26 01:36:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:36:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:36:05 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3992
+[05/26 01:36:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3992 in 3.51s (batch: 3.27s, save: 0.24s)
+[05/26 01:36:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3992
+[05/26 01:36:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3992: 0/1 successful episodes
+[05/26 01:36:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4025 (index 3/35)
+[05/26 01:36:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4025 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_02
+[05/26 01:36:06 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'}}
+
Checking objects/objaverse:   0%|          | 0/30 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 30/30 [00:00<00:00, 39482.00it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/9 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 9/9 [00:00<00:00, 51289.04it/s]
+[05/26 01:36:30 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/b88a0160da29481fb7866fda93457fe3
+[05/26 01:36:30 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/bf83213efac34b3cb2ad6ac5ddaf05d9
+[05/26 01:36:30 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/5c5c3b9ae7874b709c10ac57dad33195
+[05/26 01:36:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4025_ceiling.xml
+[05/26 01:36:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4025, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:36:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:36:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects
+[05/26 01:36:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:36:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:36:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:36:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:36:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:36:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red and white soup can and place it in or on the white bowl with blue'
+[05/26 01:36:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 4025 episode 0/1 collected=0/2
+[05/26 01:36:33 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 01:38:27,687] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 01:42:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 4025 episode 0 object objacan_e0976ef0e465417a816b142387f41765_1_0_6 completed with success=False
+[05/26 01:42:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4025: 1 episodes
+[05/26 01:42:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:42:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:42:24 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4025
+[05/26 01:42:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4025 in 2.84s (batch: 2.66s, save: 0.18s)
+[05/26 01:42:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4025
+[05/26 01:42:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4025: 0/1 successful episodes
+[05/26 01:42:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4085 (index 4/35)
+[05/26 01:42:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4085 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_02
+[05/26 01:42:25 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, 29429.89it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:43<02:09, 43.22s/it]
Extracting:  50%|█████     | 2/4 [00:48<00:41, 20.87s/it]
Extracting:  75%|███████▌  | 3/4 [01:09<00:20, 20.89s/it]
Extracting: 100%|██████████| 4/4 [01:45<00:00, 27.09s/it]
Extracting: 100%|██████████| 4/4 [01:45<00:00, 26.49s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/14 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 14/14 [00:00<00:00, 29404.23it/s]
+[05/26 01:44:18 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/0564efdff76649c48c0c41b49dd6a25e
+[05/26 01:44:18 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_21
+[05/26 01:44:18 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/2df58d08f5604c058d43e00677d325b6
+[05/26 01:44:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4085_ceiling.xml
+[05/26 01:44:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4085, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:44:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:44:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects
+[05/26 01:44:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:44:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:44:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:44:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:44:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:44:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy red 3d adventure time text and place it in or on the light brown ceramic bowl'
+[05/26 01:44:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 4085 episode 0/1 collected=0/2
+[05/26 01:44:21 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 01:45:26,358] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 01:45:46 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 01:47:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4085 episode 0 object objadecorativetext_55e23bd0f4014b90be7d1a5bc9a69172_1_0_4 completed with success=False
+[05/26 01:47:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4085: 1 episodes
+[05/26 01:47:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 01:47:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 01:47:49 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4085
+[05/26 01:47:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4085 in 2.30s (batch: 2.21s, save: 0.09s)
+[05/26 01:47:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4085
+[05/26 01:47:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4085: 0/1 successful episodes
+[05/26 01:47:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4150 (index 5/35)
+[05/26 01:47:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4150 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_02
+[05/26 01:47:50 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'}}
+
Checking objects/objaverse:   0%|          | 0/34 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 34/34 [00:00<00:00, 39296.32it/s]
+
Extracting:   0%|          | 0/5 [00:00<?, ?it/s]
Extracting:  20%|██        | 1/5 [00:21<01:24, 21.13s/it]
Extracting:  40%|████      | 2/5 [00:42<01:04, 21.42s/it]
Extracting:  60%|██████    | 3/5 [01:06<00:45, 22.66s/it]
Extracting:  80%|████████  | 4/5 [01:08<00:14, 14.39s/it]
Extracting: 100%|██████████| 5/5 [01:23<00:00, 14.64s/it]
Extracting: 100%|██████████| 5/5 [01:23<00:00, 16.74s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/11 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 11/11 [00:00<00:00, 56959.68it/s]
+[05/26 01:55:29 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/b54b110dfccb4ea3a8f5a06cc65edc5a
+[05/26 01:55:29 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/936714802d2849bea3efb1eb5c83cee6
+[05/26 01:55:29 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/937044a40c3845bf88639056005b8a75
+[05/26 01:55:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4150_ceiling.xml
+[05/26 01:55:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4150, scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:55:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 01:55:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects
+[05/26 01:55:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 01:55:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 01:55:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 01:55:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 01:55:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 01:55:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the stylized animal head pendant and place it in or on the tableware'
+[05/26 01:55:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 4150 episode 0/1 collected=0/2
+[05/26 01:55:31 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 01:56:32,155] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 01:57:25 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 02:00:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4150 episode 0 object objanecklace_b4d304759a1b49849f84e53a31190c7c_1_0_5 completed with success=False
+[05/26 02:00:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4150: 1 episodes
+[05/26 02:00:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:00:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:00:31 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4150
+[05/26 02:00:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4150 in 3.48s (batch: 3.35s, save: 0.13s)
+[05/26 02:00:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4150
+[05/26 02:00:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4150: 0/1 successful episodes
+[05/26 02:00:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4231 (index 6/35)
+[05/26 02:00:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4231 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_02
+[05/26 02:00:32 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'}}
+
Checking objects/objaverse:   0%|          | 0/15 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 15/15 [00:00<00:00, 50942.96it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/6 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 6/6 [00:00<00:00, 36684.87it/s]
+[05/26 02:00:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/72f752cce53e4942be8e27429ceaf83a
+[05/26 02:00:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/ede795f1c6f74a99b6952183f340fcb8
+[05/26 02:00:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/d50f554707f24584b988e2feea162cc5
+[05/26 02:00:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4231_ceiling.xml
+[05/26 02:00:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4231, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:00:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:00:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects
+[05/26 02:00:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:00:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:00:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:00:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:00:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:00:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal adjustable wrench and place it in or on the rustic terracotta bowl'
+[05/26 02:00:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 4231 episode 0/1 collected=0/2
+[05/26 02:00:36 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:02:56,842] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:04:13 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 02:10:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 4231 episode 0 object objaadjustablewrench_920576578b384b27b5c3e9bf36220c88_1_0_3 completed with success=False
+[05/26 02:10:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4231: 1 episodes
+[05/26 02:10:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:10:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:10:35 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4231
+[05/26 02:10:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4231 in 3.96s (batch: 3.78s, save: 0.18s)
+[05/26 02:10:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4231
+[05/26 02:10:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4231: 0/1 successful episodes
+[05/26 02:10:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4290 (index 7/35)
+[05/26 02:10:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4290 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_02
+[05/26 02:10:36 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%|          | 0/55 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 55/55 [00:00<00:00, 81056.47it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/29 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 29/29 [00:00<00:00, 69624.97it/s]
+[05/26 02:10:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/7754545bd7044b298506bb35b05578d5
+[05/26 02:10:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/DecorativeBox2
+[05/26 02:10:40 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/372c4540cbe148b9bddcbbf1761b5e81
+[05/26 02:10:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4290_ceiling.xml
+[05/26 02:10:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4290, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:10:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:10:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 96 objects
+[05/26 02:10:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:10:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:10:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:10:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:10:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:10:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray train and place it in or on the dark teal box'
+[05/26 02:10:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 4290 episode 0/1 collected=0/2
+[05/26 02:10:50 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:10:50 Worker 0 WARNING object_manager.py:1238] Could not find object objametalsign_f46108fac0e4484aa085bdb0123dd7c7_1_0_8 in scene
+[2026-05-26 02:12:46,846] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:17:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4290 episode 0 object objatoytraincar_c5f7b90d80aa4ae18100ed5616179406_1_0_3 completed with success=False
+[05/26 02:18:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4290: 1 episodes
+[05/26 02:18:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:18:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:18:04 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4290
+[05/26 02:18:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4290 in 2.83s (batch: 2.70s, save: 0.13s)
+[05/26 02:18:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4290
+[05/26 02:18:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4290: 0/1 successful episodes
+[05/26 02:18:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4334 (index 8/35)
+[05/26 02:18:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4334 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_02
+[05/26 02:18:04 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%|          | 0/48 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 48/48 [00:00<00:00, 34503.27it/s]
+
Extracting:   0%|          | 0/7 [00:00<?, ?it/s]
Extracting:  14%|█▍        | 1/7 [00:01<00:07,  1.27s/it]
Extracting:  29%|██▊       | 2/7 [00:02<00:06,  1.21s/it]
Extracting:  43%|████▎     | 3/7 [00:03<00:04,  1.16s/it]
Extracting:  57%|█████▋    | 4/7 [00:04<00:02,  1.01it/s]
Extracting:  71%|███████▏  | 5/7 [00:05<00:02,  1.03s/it]
Extracting:  86%|████████▌ | 6/7 [00:06<00:01,  1.09s/it]
Extracting: 100%|██████████| 7/7 [00:08<00:00,  1.34s/it]
Extracting: 100%|██████████| 7/7 [00:08<00:00,  1.20s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/16 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 16/16 [00:00<00:00, 8172.05it/s]
+[05/26 02:18:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4
+[05/26 02:18:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/2911e8c87d49402c9e3c18277c8b2b2a
+[05/26 02:18:17 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/72f752cce53e4942be8e27429ceaf83a
+[05/26 02:18:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4334_ceiling.xml
+[05/26 02:18:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4334, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:18:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:18:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 79 objects
+[05/26 02:18:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:18:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:18:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:18:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:18:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:18:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal door lock and place it in or on the rectangular box with patterned lid'
+[05/26 02:18:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 4334 episode 0/2 collected=0/2
+[05/26 02:18:23 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:18:23 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_7 in scene
+[2026-05-26 02:20:16,768] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:20:57 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 02:27:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4334 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_9 completed with success=False
+[05/26 02:27:17 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%|          | 0/48 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 48/48 [00:00<00:00, 49514.66it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/16 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 16/16 [00:00<00:00, 49236.14it/s]
+[05/26 02:27:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4
+[05/26 02:27:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/2911e8c87d49402c9e3c18277c8b2b2a
+[05/26 02:27:22 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/72f752cce53e4942be8e27429ceaf83a
+[05/26 02:27:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4334_ceiling.xml
+[05/26 02:27:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4334, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:27:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:27:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 79 objects
+[05/26 02:27:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:27:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:27:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:27:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:27:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:27:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pink wand with red sphere and place it in or on the rectangular box with patterned lid'
+[05/26 02:27:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 4334 episode 1/2 collected=1/2
+[05/26 02:27:30 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:27:31 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_7 in scene
+[2026-05-26 02:29:51,660] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:35:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4334 episode 1 object objadecorativewand_612582bc490a4353ba468a9839bf9119_1_0_8 completed with success=False
+[05/26 02:35:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4334: 2 episodes
+[05/26 02:35:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:35:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:35:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:35:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:35:19 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4334
+[05/26 02:35:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4334 in 6.35s (batch: 6.10s, save: 0.25s)
+[05/26 02:35:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4334
+[05/26 02:35:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4334: 0/2 successful episodes
+[05/26 02:35:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4350 (index 9/35)
+[05/26 02:35:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4350 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_02
+[05/26 02:35:20 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%|          | 0/51 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 51/51 [00:00<00:00, 44797.80it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:01<00:02,  1.27s/it]
Extracting:  67%|██████▋   | 2/3 [00:02<00:01,  1.32s/it]
Extracting: 100%|██████████| 3/3 [00:04<00:00,  1.41s/it]
Extracting: 100%|██████████| 3/3 [00:04<00:00,  1.38s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/20 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 20/20 [00:00<00:00, 6241.52it/s]
+[05/26 02:35:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/bfdeafe4916c421e91dce2acb972d0f8
+[05/26 02:35:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/0cb14e8a04de4c39ac8714a98fba9883
+[05/26 02:35:27 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/d50f554707f24584b988e2feea162cc5
+[05/26 02:35:27 Worker 0 INFO scene_maps.py:66] Deleted 1 blacklisted bodies from scene
+[05/26 02:35:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4350_ceiling.xml
+[05/26 02:35:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4350, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:35:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:35:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects
+[05/26 02:35:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:35:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:35:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:35:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:35:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:35:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray sword with blue and brown hilt and place it in or on the sculptural bowl with earthy texture'
+[05/26 02:35:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 4350 episode 0/1 collected=0/2
+[05/26 02:35:34 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:35:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene
+[05/26 02:35:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene
+[2026-05-26 02:37:36,136] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:47:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 4350 episode 0 object objatoysword_34640d52951443888e0bb0dc99f993c5_1_0_3 completed with success=False
+[05/26 02:47:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4350: 1 episodes
+[05/26 02:47:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:47:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:47:50 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4350
+[05/26 02:47:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4350 in 3.31s (batch: 3.18s, save: 0.13s)
+[05/26 02:47:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4350
+[05/26 02:47:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4350: 0/1 successful episodes
+[05/26 02:47:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4383 (index 10/35)
+[05/26 02:47:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4383 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_02
+[05/26 02:47:51 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%|          | 0/15 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 15/15 [00:00<00:00, 44715.39it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/3 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 3/3 [00:00<00:00, 15160.13it/s]
+[05/26 02:47:52 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/e776cc1b82d54420a55e924510c027c5
+[05/26 02:47:52 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/b4f97bfa98234ac58b2991d6ac0a18a9
+[05/26 02:47:52 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/c44ac768e7304df58ebf13ba4c6eed11
+[05/26 02:47:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4383_ceiling.xml
+[05/26 02:47:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4383, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:47:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:47:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects
+[05/26 02:47:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:47:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:47:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:47:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:47:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:47:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the brown potato and place it in or on the round gray handmade shallow bowl'
+[05/26 02:47:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 4383 episode 0/1 collected=0/2
+[05/26 02:47:55 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 02:49:46,117] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 02:50:22 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 02:57:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4383 episode 0 object Irishpotato_19522f313a33f0a662dcc0b1aa19547c_1_0_2 completed with success=False
+[05/26 02:57:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4383: 1 episodes
+[05/26 02:57:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 02:57:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 02:57:12 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4383
+[05/26 02:57:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4383 in 3.79s (batch: 3.62s, save: 0.17s)
+[05/26 02:57:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4383
+[05/26 02:57:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4383: 0/1 successful episodes
+[05/26 02:57:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4425 (index 11/35)
+[05/26 02:57:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4425 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_02
+[05/26 02:57:13 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%|          | 0/55 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 55/55 [00:00<00:00, 41738.14it/s]
+
Extracting:   0%|          | 0/6 [00:00<?, ?it/s]
Extracting:  17%|█▋        | 1/6 [00:01<00:05,  1.14s/it]
Extracting:  33%|███▎      | 2/6 [00:02<00:04,  1.23s/it]
Extracting:  50%|█████     | 3/6 [00:03<00:03,  1.30s/it]
Extracting:  67%|██████▋   | 4/6 [00:05<00:02,  1.32s/it]
Extracting:  83%|████████▎ | 5/6 [00:06<00:01,  1.25s/it]
Extracting: 100%|██████████| 6/6 [00:07<00:00,  1.37s/it]
Extracting: 100%|██████████| 6/6 [00:07<00:00,  1.31s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/23 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 23/23 [00:00<00:00, 3551.35it/s]
+[05/26 02:57:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/e11475635c464216a2213d65c45a319a
+[05/26 02:57:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_13
+[05/26 02:57:26 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/752b1b00e4734e448428ccbd8ddae76c
+[05/26 02:57:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4425_ceiling.xml
+[05/26 02:57:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4425, scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:57:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 02:57:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 79 objects
+[05/26 02:57:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 02:57:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 02:57:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 02:57:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 02:57:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 02:57:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black honeycomb wave structure with hinge and place it in or on the brown rustic ceramic bowl'
+[05/26 02:57:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 4425 episode 0/1 collected=0/2
+[05/26 02:57:34 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 02:57:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaartifact_fc122506e9fb4919abd5e3b5876747a4_1_0_5 in scene
+[05/26 02:57:35 Worker 0 WARNING object_manager.py:1238] Could not find object objamat_e0b2b8107ba5450298811782f875ee25_1_0_5 in scene
+[2026-05-26 03:00:17,631] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:10:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 4425 episode 0 object objadecorativeelement_4b009fce74c64110b521f91692a4867f_1_0_2 completed with success=False
+[05/26 03:10:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4425: 1 episodes
+[05/26 03:10:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:10:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:10:36 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4425
+[05/26 03:10:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4425 in 4.16s (batch: 3.97s, save: 0.19s)
+[05/26 03:10:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4425
+[05/26 03:10:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4425: 0/1 successful episodes
+[05/26 03:10:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4500 (index 12/35)
+[05/26 03:10:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4500 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_02
+[05/26 03:10:37 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%|          | 0/21 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 21/21 [00:00<00:00, 55747.08it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/7 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 7/7 [00:00<00:00, 32406.32it/s]
+[05/26 03:10:39 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/bcf3a4e49ee14eeda2faca7c7455161d
+[05/26 03:10:39 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/1e23d9b649a643528ce00de750e858de
+[05/26 03:10:39 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/93ef7da87b1e43fbb47f3b26b927f777
+[05/26 03:10:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4500_ceiling.xml
+[05/26 03:10:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4500, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:10:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:10:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects
+[05/26 03:10:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:10:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:10:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:10:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:10:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:10:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the hollow gradient gender symbol with cross and place it in or on the glossy ceramic bowl hemispherical'
+[05/26 03:10:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 4500 episode 0/1 collected=0/2
+[05/26 03:10:43 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:12:58,867] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:14:01 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 03:17:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4500 episode 0 object objasymbol_5742a3cd3a124f88bb061418ddc6db2b_1_0_2 completed with success=False
+[05/26 03:17:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4500: 1 episodes
+[05/26 03:17:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:17:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:17:52 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4500
+[05/26 03:17:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4500 in 4.08s (batch: 3.81s, save: 0.27s)
+[05/26 03:17:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4500
+[05/26 03:17:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4500: 0/1 successful episodes
+[05/26 03:17:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4549 (index 13/35)
+[05/26 03:17:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4549 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_02
+[05/26 03:17:53 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'}}
+
Checking objects/objaverse:   0%|          | 0/16 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 16/16 [00:00<00:00, 38435.78it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/3 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 3/3 [00:00<00:00, 22153.01it/s]
+[05/26 03:17:54 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/c44ac768e7304df58ebf13ba4c6eed11
+[05/26 03:17:54 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Pot_24
+[05/26 03:17:54 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/561e6757555049fca93f56e479f7cbe4
+[05/26 03:17:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4549_ceiling.xml
+[05/26 03:17:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4549, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:17:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:17:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects
+[05/26 03:17:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:17:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:17:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:17:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:17:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:17:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the means and place it in or on the round textured bowl'
+[05/26 03:17:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 4549 episode 0/1 collected=0/2
+[05/26 03:17:57 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:20:06,684] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:20:58 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 03:23:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4549 episode 0 object objalever_5d821ac7148240c092c4face44c1d096_1_0_2 completed with success=False
+[05/26 03:23:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4549: 1 episodes
+[05/26 03:23:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:23:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:23:23 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4549
+[05/26 03:23:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4549 in 3.07s (batch: 2.93s, save: 0.14s)
+[05/26 03:23:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4549
+[05/26 03:23:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4549: 0/1 successful episodes
+[05/26 03:23:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4615 (index 14/35)
+[05/26 03:23:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4615 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_02
+[05/26 03:23:24 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%|          | 0/24 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 24/24 [00:00<00:00, 36591.53it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:00<00:02,  1.03it/s]
Extracting:  50%|█████     | 2/4 [00:02<00:02,  1.19s/it]
Extracting:  75%|███████▌  | 3/4 [00:03<00:01,  1.26s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.38s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.31s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/6 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 6/6 [00:00<00:00, 5557.82it/s]
+[05/26 03:23:31 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/e776cc1b82d54420a55e924510c027c5
+[05/26 03:23:31 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_23
+[05/26 03:23:31 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/39afab89520c460598805c0a6bad291c
+[05/26 03:23:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4615_ceiling.xml
+[05/26 03:23:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4615, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:23:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:23:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects
+[05/26 03:23:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:23:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:23:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:23:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:23:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:23:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the broad metal trowel with cylindrical handle and place it in or on the shallow wide gray ceramic bowl'
+[05/26 03:23:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 4615 episode 0/1 collected=0/2
+[05/26 03:23:33 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:24:44,091] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:29:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4615 episode 0 object objatrowel_41e5faac18994f0b9f14a515e9662354_1_0_7 completed with success=False
+[05/26 03:29:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4615: 1 episodes
+[05/26 03:29:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:29:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:29:36 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4615
+[05/26 03:29:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4615 in 3.71s (batch: 3.50s, save: 0.21s)
+[05/26 03:29:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4615
+[05/26 03:29:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4615: 0/1 successful episodes
+[05/26 03:29:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4661 (index 15/35)
+[05/26 03:29:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4661 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_02
+[05/26 03:29:36 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%|          | 0/59 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 59/59 [00:00<00:00, 54220.84it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/27 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 27/27 [00:00<00:00, 11540.43it/s]
+[05/26 03:29:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/44f5be7685c1439c85cf9bc36e78578a
+[05/26 03:29:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_13
+[05/26 03:29:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/63211cbfb48044bcbdbbd30a3aa3bb75
+[05/26 03:29:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4661_ceiling.xml
+[05/26 03:29:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4661, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:29:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:29:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 104 objects
+[05/26 03:29:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:29:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:29:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:29:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:29:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:29:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red walkie-talkie with antenna and place it in or on the earth map bowl'
+[05/26 03:29:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 4661 episode 0/1 collected=0/2
+[05/26 03:29:55 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:29:56 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelhouse_46a06fe6dbbe4be6999c5c51dde9ec4b_1_0_5 in scene
+[05/26 03:29:56 Worker 0 WARNING object_manager.py:1238] Could not find object objajewelry_5d13ef83fc9f496fb99b97e4f0e5e610_1_0_5 in scene
+[05/26 03:29:56 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene
+[2026-05-26 03:32:07,168] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:39:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4661 episode 0 object objawalkietalkie_8b08a40f337644cb8ceef52be1eb824f_1_0_6 completed with success=False
+[05/26 03:39:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4661: 1 episodes
+[05/26 03:39:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:39:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:39:20 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4661
+[05/26 03:39:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4661 in 3.87s (batch: 3.56s, save: 0.32s)
+[05/26 03:39:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4661
+[05/26 03:39:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4661: 0/1 successful episodes
+[05/26 03:39:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4705 (index 16/35)
+[05/26 03:39:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4705 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_02
+[05/26 03:39:21 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%|          | 0/58 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 58/58 [00:00<00:00, 5181.24it/s]
+
Extracting:   0%|          | 0/9 [00:00<?, ?it/s]
Extracting:  11%|█         | 1/9 [00:01<00:11,  1.43s/it]
Extracting:  22%|██▏       | 2/9 [00:02<00:06,  1.03it/s]
Extracting:  33%|███▎      | 3/9 [00:03<00:06,  1.09s/it]
Extracting:  44%|████▍     | 4/9 [00:04<00:06,  1.21s/it]
Extracting:  56%|█████▌    | 5/9 [00:05<00:04,  1.23s/it]
Extracting:  67%|██████▋   | 6/9 [00:07<00:03,  1.22s/it]
Extracting:  78%|███████▊  | 7/9 [00:08<00:02,  1.19s/it]
Extracting:  89%|████████▉ | 8/9 [00:09<00:01,  1.25s/it]
Extracting: 100%|██████████| 9/9 [00:10<00:00,  1.27s/it]
Extracting: 100%|██████████| 9/9 [00:10<00:00,  1.22s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/20 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 20/20 [00:00<00:00, 7933.24it/s]
+[05/26 03:39:37 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/a37c32fbdbbb4ab19c8b1cccc557f52d
+[05/26 03:39:37 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Bowl_17
+[05/26 03:39:37 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/b4e33154ce3a40e4bd2b34f8de4f548c
+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 03:39:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4705_ceiling.xml
+[05/26 03:39:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4705, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:39:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:39:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 84 objects
+[05/26 03:39:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:39:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:39:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:39:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:39:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:39:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender wooden handled awl and place it in or on the container'
+[05/26 03:39:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 4705 episode 0/1 collected=0/2
+[05/26 03:39:44 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:41:50,223] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:42:56 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 03:46:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4705 episode 0 object objahandtool_61b9c84deee940f1bf2c6125f96c40e5_1_0_2 completed with success=False
+[05/26 03:46:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4705: 1 episodes
+[05/26 03:46:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:46:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:46:15 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4705
+[05/26 03:46:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4705 in 2.71s (batch: 2.58s, save: 0.13s)
+[05/26 03:46:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4705
+[05/26 03:46:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4705: 0/1 successful episodes
+[05/26 03:46:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4745 (index 17/35)
+[05/26 03:46:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4745 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_02
+[05/26 03:46:16 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%|          | 0/51 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 51/51 [00:00<00:00, 33459.96it/s]
+
Extracting:   0%|          | 0/9 [00:00<?, ?it/s]
Extracting:  11%|█         | 1/9 [00:01<00:09,  1.13s/it]
Extracting:  22%|██▏       | 2/9 [00:02<00:09,  1.29s/it]
Extracting:  33%|███▎      | 3/9 [00:03<00:06,  1.13s/it]
Extracting:  44%|████▍     | 4/9 [00:04<00:05,  1.17s/it]
Extracting:  56%|█████▌    | 5/9 [00:05<00:04,  1.13s/it]
Extracting:  67%|██████▋   | 6/9 [00:07<00:03,  1.19s/it]
Extracting:  78%|███████▊  | 7/9 [00:07<00:02,  1.04s/it]
Extracting:  89%|████████▉ | 8/9 [00:08<00:01,  1.08s/it]
Extracting: 100%|██████████| 9/9 [00:10<00:00,  1.16s/it]
Extracting: 100%|██████████| 9/9 [00:10<00:00,  1.14s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/22 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 22/22 [00:00<00:00, 4460.73it/s]
+
Extracting:   0%|          | 0/5 [00:00<?, ?it/s]
Extracting:  20%|██        | 1/5 [00:00<00:02,  1.53it/s]
Extracting:  40%|████      | 2/5 [00:01<00:01,  1.59it/s]
Extracting:  60%|██████    | 3/5 [00:01<00:01,  1.53it/s]
Extracting:  80%|████████  | 4/5 [00:02<00:00,  1.35it/s]
Extracting: 100%|██████████| 5/5 [00:03<00:00,  1.43it/s]
Extracting: 100%|██████████| 5/5 [00:03<00:00,  1.45it/s]
+[05/26 03:46:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/5c5c3b9ae7874b709c10ac57dad33195
+[05/26 03:46:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/0500b0d9ef6f40dd96591d7b354c9ede
+[05/26 03:46:33 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_14
+[05/26 03:46:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4745_ceiling.xml
+[05/26 03:46:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4745, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:46:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:46:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects
+[05/26 03:46:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:46:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:46:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:46:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:46:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:46:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow bee and place it in or on the round gray ceramic bowl'
+[05/26 03:46:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 4745 episode 0/1 collected=0/2
+[05/26 03:46:37 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 03:46:37 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyflower_e1001602762642cca0ff1651da592cdd_1_0_8 in scene
+[05/26 03:46:37 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_92c4e6e47495ff6cf76dac0aa793f1e6_1_0_8 in scene
+[2026-05-26 03:48:23,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:49:48 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 03:55:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4745 episode 0 object objainsect_b6dbcdac7cc34379b22ff3099fa4bf5a_1_0_7 completed with success=False
+[05/26 03:55:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4745: 1 episodes
+[05/26 03:55:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 03:55:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 03:55:39 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4745
+[05/26 03:55:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4745 in 3.04s (batch: 2.95s, save: 0.09s)
+[05/26 03:55:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4745
+[05/26 03:55:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4745: 0/1 successful episodes
+[05/26 03:55:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4781 (index 18/35)
+[05/26 03:55:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4781 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_02
+[05/26 03:55:39 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%|          | 0/39 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 39/39 [00:00<00:00, 59526.15it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/19 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 19/19 [00:00<00:00, 8360.45it/s]
+[05/26 03:55:45 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/d02ed62181d942fc9a1527b49bc67b17
+[05/26 03:55:45 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/cb8931cc79b24d9cacb1d12349594c3b
+[05/26 03:55:45 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/08dd440442874c8e8ae35494b4aff0a2
+[05/26 03:55:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4781_ceiling.xml
+[05/26 03:55:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4781, scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:55:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 03:55:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 76 objects
+[05/26 03:55:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 03:55:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 03:55:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 03:55:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 03:55:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 03:55:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ornate bronze bell with claw base and place it in or on the transparent glass ashtray with faceted edges'
+[05/26 03:55:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 4781 episode 0/1 collected=0/2
+[05/26 03:55:51 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 03:57:45,326] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 03:58:35 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 04:04:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4781 episode 0 object objadecorativebell_82a59a8d2fed401ea8a9681ce7cfc3b0_1_0_4 completed with success=False
+[05/26 04:04:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4781: 1 episodes
+[05/26 04:04:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:04:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:04:59 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4781
+[05/26 04:04:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4781 in 3.33s (batch: 3.18s, save: 0.15s)
+[05/26 04:05:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4781
+[05/26 04:05:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4781: 0/1 successful episodes
+[05/26 04:05:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4783 (index 19/35)
+[05/26 04:05:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4783 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_02
+[05/26 04:05:00 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%|          | 0/20 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 20/20 [00:00<00:00, 19413.58it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:01<00:02,  1.41s/it]
Extracting:  67%|██████▋   | 2/3 [00:02<00:01,  1.30s/it]
Extracting: 100%|██████████| 3/3 [00:03<00:00,  1.30s/it]
Extracting: 100%|██████████| 3/3 [00:03<00:00,  1.31s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/9 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 9/9 [00:00<00:00, 5127.51it/s]
+[05/26 04:05:07 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/24ee73c87dcf4161a630bb65dee2a7a5
+[05/26 04:05:07 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/561e6757555049fca93f56e479f7cbe4
+[05/26 04:05:07 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/0cb14e8a04de4c39ac8714a98fba9883
+[05/26 04:05:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4783_ceiling.xml
+[05/26 04:05:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4783, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:05:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:05:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects
+[05/26 04:05:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:05:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:05:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:05:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:05:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:05:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the disk and place it in or on the round bowl with dark band'
+[05/26 04:05:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 4783 episode 0/2 collected=0/2
+[05/26 04:05:12 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:06:34,918] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:11:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 4783 episode 0 object objadisc_5766095a480e444da6185a24f8f17840_1_0_2 completed with success=False
+[05/26 04:11:43 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, 54720.21it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/9 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 9/9 [00:00<00:00, 36192.46it/s]
+[05/26 04:11:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/24ee73c87dcf4161a630bb65dee2a7a5
+[05/26 04:11:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/561e6757555049fca93f56e479f7cbe4
+[05/26 04:11:46 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/0cb14e8a04de4c39ac8714a98fba9883
+[05/26 04:11:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4783_ceiling.xml
+[05/26 04:11:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4783, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:11:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:11:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects
+[05/26 04:11:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:11:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:11:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:11:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:11:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:11:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the classic orange twin-bell alarm clock and place it in or on the jade green patterned bowl'
+[05/26 04:11:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 4783 episode 1/2 collected=1/2
+[05/26 04:11:51 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:14:01,065] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:15:31 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 04:22:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4783 episode 1 object objaalarmclock_71ab3427ad1142718af2ee8feb85c5fd_1_0_2 completed with success=False
+[05/26 04:22:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4783: 2 episodes
+[05/26 04:22:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:22:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:22:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:22:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:22:24 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4783
+[05/26 04:22:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4783 in 4.91s (batch: 4.73s, save: 0.18s)
+[05/26 04:22:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4783
+[05/26 04:22:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4783: 0/2 successful episodes
+[05/26 04:22:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4809 (index 20/35)
+[05/26 04:22:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4809 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_02
+[05/26 04:22:25 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%|          | 0/54 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 54/54 [00:00<00:00, 53683.91it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:01<00:03,  1.13s/it]
Extracting:  50%|█████     | 2/4 [00:02<00:02,  1.23s/it]
Extracting:  75%|███████▌  | 3/4 [00:03<00:01,  1.35s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.40s/it]
Extracting: 100%|██████████| 4/4 [00:05<00:00,  1.35s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/24 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 24/24 [00:00<00:00, 63469.92it/s]
+[05/26 04:22:34 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Pot_27
+[05/26 04:22:34 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/675213cdb6eb4b8ab4ca565f2e7f4fc4
+[05/26 04:22:34 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/10578ce7eca64714b260b142553f34f5
+[05/26 04:22:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4809_ceiling.xml
+[05/26 04:22:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4809, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:22:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:22:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 106 objects
+[05/26 04:22:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:22:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:22:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:22:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:22:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:22:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular black guitar effects pedal and place it in or on the white bowl with facets'
+[05/26 04:22:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 4809 episode 0/1 collected=0/2
+[05/26 04:22:39 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:22:39 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_63fbcd680e0db93dfb0454951f2114f3_1_0_6 in scene
+[05/26 04:22:39 Worker 0 WARNING object_manager.py:1238] Could not find object objametalrod_6163f82aa93d4eaeb3acd9909e1f40f0_1_0_6 in scene
+[05/26 04:22:39 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_2_0_7 in scene
+[2026-05-26 04:24:09,048] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:28:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 4809 episode 0 object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 completed with success=False
+[05/26 04:28:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4809: 1 episodes
+[05/26 04:28:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:28:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:28:59 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4809
+[05/26 04:28:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4809 in 3.41s (batch: 3.25s, save: 0.16s)
+[05/26 04:29:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4809
+[05/26 04:29:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4809: 0/1 successful episodes
+[05/26 04:29:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4870 (index 21/35)
+[05/26 04:29:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4870 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_02
+[05/26 04:29:00 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%|          | 0/38 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 38/38 [00:00<00:00, 37239.15it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:01<00:02,  1.20s/it]
Extracting:  67%|██████▋   | 2/3 [00:02<00:01,  1.35s/it]
Extracting: 100%|██████████| 3/3 [00:04<00:00,  1.39s/it]
Extracting: 100%|██████████| 3/3 [00:04<00:00,  1.36s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/18 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 18/18 [00:00<00:00, 11989.43it/s]
+[05/26 04:29:06 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/292913530b1c41709ffc8685fbb9d55a
+[05/26 04:29:06 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/16bfd987e11444ca9c065718d49f5877
+[05/26 04:29:06 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/589cc33e26134e808392ac3e956ba868
+[05/26 04:29:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4870_ceiling.xml
+[05/26 04:29:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4870, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:29:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:29:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects
+[05/26 04:29:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:29:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:29:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:29:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:29:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:29:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the creamy beige candle and place it in or on the round black and gray ashtray'
+[05/26 04:29:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 4870 episode 0/1 collected=0/2
+[05/26 04:29:11 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:31:08,356] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:32:09 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 04:35:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 4870 episode 0 object objacandle_a4849fae6e164623a7883695426daa50_1_0_5 completed with success=False
+[05/26 04:35:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4870: 1 episodes
+[05/26 04:35:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:35:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:35:35 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4870
+[05/26 04:35:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4870 in 3.13s (batch: 3.02s, save: 0.11s)
+[05/26 04:35:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4870
+[05/26 04:35:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4870: 0/1 successful episodes
+[05/26 04:35:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4947 (index 22/35)
+[05/26 04:35:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4947 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_02
+[05/26 04:35:35 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'}}
+
Checking objects/objaverse:   0%|          | 0/22 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 22/22 [00:00<00:00, 26044.22it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/8 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 8/8 [00:00<00:00, 2473.24it/s]
+[05/26 04:35:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/3339ce474c3d4fb3a35952f476ca1e4a
+[05/26 04:35:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/53c885e05492439cace4cc626fec00cc
+[05/26 04:35:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/3b145885d881488887d90a98b3cde06f
+[05/26 04:35:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4947_ceiling.xml
+[05/26 04:35:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4947, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:35:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:35:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects
+[05/26 04:35:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:35:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:35:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:35:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:35:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:35:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pliers and place it in or on the bowl'
+[05/26 04:35:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 4947 episode 0/1 collected=0/2
+[05/26 04:35:43 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:36:48,643] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:39:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4947 episode 0 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_2 completed with success=False
+[05/26 04:39:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4947: 1 episodes
+[05/26 04:39:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:39:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:39:38 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4947
+[05/26 04:39:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4947 in 2.71s (batch: 2.56s, save: 0.15s)
+[05/26 04:39:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4947
+[05/26 04:39:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4947: 0/1 successful episodes
+[05/26 04:39:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4986 (index 23/35)
+[05/26 04:39:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4986 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_02
+[05/26 04:39:39 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%|          | 0/37 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 37/37 [00:00<00:00, 42988.71it/s]
+
Extracting:   0%|          | 0/6 [00:00<?, ?it/s]
Extracting:  17%|█▋        | 1/6 [00:01<00:07,  1.41s/it]
Extracting:  33%|███▎      | 2/6 [00:02<00:05,  1.42s/it]
Extracting:  50%|█████     | 3/6 [00:04<00:04,  1.43s/it]
Extracting:  67%|██████▋   | 4/6 [00:05<00:02,  1.34s/it]
Extracting:  83%|████████▎ | 5/6 [00:06<00:01,  1.36s/it]
Extracting: 100%|██████████| 6/6 [00:08<00:00,  1.35s/it]
Extracting: 100%|██████████| 6/6 [00:08<00:00,  1.37s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/21 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 21/21 [00:00<00:00, 16011.70it/s]
+[05/26 04:39:49 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/937044a40c3845bf88639056005b8a75
+[05/26 04:39:49 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/56dccb62700a4c04b42646e060c087f5
+[05/26 04:39:49 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_26
+[05/26 04:39:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4986_ceiling.xml
+[05/26 04:39:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4986, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:39:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:39:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects
+[05/26 04:39:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:39:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:39:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:39:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:39:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:39:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pixelated wooden hourglass and place it in or on the gray bowl'
+[05/26 04:39:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 4986 episode 0/1 collected=0/2
+[05/26 04:39:52 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object objatoybomb_1631526a79b44d3a96382b1802a59fb7_1_0_6 in scene
+[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object vase_e3478e74916159222cb33c5c329dc2b8_1_0_6 in scene
+[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object objapapertowelroll_d62583f82dfe46f0a8a8255d35a6de62_1_0_7 in scene
+[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object objasoap_539c979c75b34576b75f3383e96eadb5_1_0_7 in scene
+[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_8 in scene
+[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_8 in scene
+[2026-05-26 04:41:08,987] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:41:40 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 04:46:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4986 episode 0 object objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_9 completed with success=False
+[05/26 04:46:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4986: 1 episodes
+[05/26 04:46:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:46:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:46:18 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4986
+[05/26 04:46:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4986 in 2.54s (batch: 2.39s, save: 0.15s)
+[05/26 04:46:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4986
+[05/26 04:46:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4986: 0/1 successful episodes
+[05/26 04:46:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5045 (index 24/35)
+[05/26 04:46:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5045 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_02
+[05/26 04:46:18 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%|          | 0/55 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 55/55 [00:00<00:00, 31924.54it/s]
+
Extracting:   0%|          | 0/6 [00:00<?, ?it/s]
Extracting:  17%|█▋        | 1/6 [00:01<00:07,  1.47s/it]
Extracting:  33%|███▎      | 2/6 [00:02<00:05,  1.31s/it]
Extracting:  50%|█████     | 3/6 [00:03<00:03,  1.26s/it]
Extracting:  67%|██████▋   | 4/6 [00:05<00:02,  1.37s/it]
Extracting:  83%|████████▎ | 5/6 [00:06<00:01,  1.38s/it]
Extracting: 100%|██████████| 6/6 [00:07<00:00,  1.24s/it]
Extracting: 100%|██████████| 6/6 [00:07<00:00,  1.29s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/20 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 20/20 [00:00<00:00, 9687.73it/s]
+[05/26 04:46:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4
+[05/26 04:46:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Pot_18
+[05/26 04:46:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/93ef7da87b1e43fbb47f3b26b927f777
+[05/26 04:46:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5045_ceiling.xml
+[05/26 04:46:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5045, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:46:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:46:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects
+[05/26 04:46:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:46:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:46:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:46:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:46:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:46:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the brown preserved bird and place it in or on the blue ceramic pot with colorful face'
+[05/26 04:46:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 5045 episode 0/1 collected=0/2
+[05/26 04:46:35 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 04:46:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaframedportrait_117946e14b8545a69e962fce2b8a5022_1_0_8 in scene
+[05/26 04:46:35 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_63fbcd680e0db93dfb0454951f2114f3_1_0_8 in scene
+[2026-05-26 04:48:26,437] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:53:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 5045 episode 0 object objataxidermybird_843000ec4e604edbaa76946cd1a89501_1_0_2 completed with success=False
+[05/26 04:53:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5045: 1 episodes
+[05/26 04:53:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 04:53:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 04:53:10 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5045
+[05/26 04:53:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5045 in 2.79s (batch: 2.66s, save: 0.13s)
+[05/26 04:53:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5045
+[05/26 04:53:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5045: 0/1 successful episodes
+[05/26 04:53:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5059 (index 25/35)
+[05/26 04:53:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5059 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_02
+[05/26 04:53:11 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]
Checking objects/objaverse: 100%|██████████| 40/40 [00:00<00:00, 80235.37it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/21 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 21/21 [00:00<00:00, 75411.29it/s]
+[05/26 04:53:11 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_24
+[05/26 04:53:11 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Pot_18
+[05/26 04:53:11 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/d8bcf6509a5d40378f2baec03bf551a5
+[05/26 04:53:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5059_ceiling.xml
+[05/26 04:53:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5059, scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:53:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 04:53:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects
+[05/26 04:53:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 04:53:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 04:53:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 04:53:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 04:53:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 04:53:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ornate hand mirror and place it in or on the blue cooking pot'
+[05/26 04:53:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 5059 episode 0/2 collected=0/2
+[05/26 04:53:15 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 04:54:30,905] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 04:54:53 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 05:01:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5059 episode 0 object objahandmirror_a3348d3e4a674350af738e8cf20ec378_1_0_5 completed with success=False
+[05/26 05:01:39 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]
Checking objects/objaverse: 100%|██████████| 40/40 [00:00<00:00, 49200.05it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/21 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 21/21 [00:00<00:00, 49483.36it/s]
+[05/26 05:01:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_24
+[05/26 05:01:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/Pot_18
+[05/26 05:01:41 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/d8bcf6509a5d40378f2baec03bf551a5
+[05/26 05:01:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5059_ceiling.xml
+[05/26 05:01:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5059, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:01:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:01:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects
+[05/26 05:01:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:01:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:01:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:01:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:01:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:01:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black metal scope mount with knob and place it in or on the small wooden box with metal latch'
+[05/26 05:01:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 5059 episode 1/2 collected=1/2
+[05/26 05:01:46 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:03:29,100] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:04:09 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 05:07:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5059 episode 1 object objascopemount_97d5328f85dd40cfaec1aed7a00164f3_1_0_4 completed with success=False
+[05/26 05:07:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5059: 2 episodes
+[05/26 05:07:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:07:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:07:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:07:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:07:35 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5059
+[05/26 05:07:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5059 in 6.55s (batch: 6.31s, save: 0.24s)
+[05/26 05:07:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5059
+[05/26 05:07:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5059: 0/2 successful episodes
+[05/26 05:07:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5128 (index 26/35)
+[05/26 05:07:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5128 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_02
+[05/26 05:07:36 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%|          | 0/36 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 36/36 [00:00<00:00, 37909.85it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:01<00:02,  1.35s/it]
Extracting:  67%|██████▋   | 2/3 [00:02<00:01,  1.24s/it]
Extracting: 100%|██████████| 3/3 [00:03<00:00,  1.30s/it]
Extracting: 100%|██████████| 3/3 [00:03<00:00,  1.30s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/22 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 22/22 [00:00<00:00, 8751.39it/s]
+[05/26 05:07:43 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/03f1185ff6d4428fa81f6fc9db589338
+[05/26 05:07:43 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/c44ac768e7304df58ebf13ba4c6eed11
+[05/26 05:07:43 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0
+[05/26 05:07:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5128_ceiling.xml
+[05/26 05:07:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5128, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:07:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:07:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects
+[05/26 05:07:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:07:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:07:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:07:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:07:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:07:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rusty tool and place it in or on the round wooden bowl with grain pattern'
+[05/26 05:07:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 5128 episode 0/1 collected=0/2
+[05/26 05:07:47 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 05:07:48 Worker 0 WARNING object_manager.py:1238] Could not find object objajewelry_5d13ef83fc9f496fb99b97e4f0e5e610_1_0_3 in scene
+[05/26 05:07:48 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_fd2d9721dc3a4fc6841e38f30fbad6c0_1_0_3 in scene
+[05/26 05:07:48 Worker 0 WARNING object_manager.py:1238] Could not find object objatoothmodel_7e325316ef424bc6b71ee680528b6eeb_1_0_4 in scene
+[05/26 05:07:48 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_4 in scene
+[2026-05-26 05:10:04,527] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:11:49 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 05:16:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 5128 episode 0 object objahandtool_7985f67d4f204df78904cd50b73cbf0f_1_0_2 completed with success=False
+[05/26 05:16:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5128: 1 episodes
+[05/26 05:16:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:16:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:16:55 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5128
+[05/26 05:16:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5128 in 3.02s (batch: 2.88s, save: 0.14s)
+[05/26 05:16:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5128
+[05/26 05:16:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5128: 0/1 successful episodes
+[05/26 05:16:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5169 (index 27/35)
+[05/26 05:16:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5169 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_02
+[05/26 05:16:56 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'}}
+
Checking objects/objaverse:   0%|          | 0/9 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 9/9 [00:00<00:00, 21896.02it/s]
+[05/26 05:16:58 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/1df7263c6e094645987c61c5d60e67d5
+[05/26 05:16:58 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/b4e33154ce3a40e4bd2b34f8de4f548c
+[05/26 05:16:58 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/53c885e05492439cace4cc626fec00cc
+[05/26 05:17:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5169_ceiling.xml
+[05/26 05:17:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5169, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:17:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:17:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects
+[05/26 05:17:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:17:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:17:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:17:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:17:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:17:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the t-shaped metal pipe cutter and place it in or on the round frosted glass bowl with interior'
+[05/26 05:17:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 5169 episode 0/1 collected=0/2
+[05/26 05:17:00 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:19:07,593] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:22:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5169 episode 0 object objapipecutter_9113b144802144b683d8db86f7d7388c_2_0_2 completed with success=False
+[05/26 05:22:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5169: 1 episodes
+[05/26 05:22:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:22:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:22:29 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5169
+[05/26 05:22:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5169 in 3.12s (batch: 2.99s, save: 0.13s)
+[05/26 05:22:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5169
+[05/26 05:22:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5169: 0/1 successful episodes
+[05/26 05:22:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5232 (index 28/35)
+[05/26 05:22:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5232 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_02
+[05/26 05:22:30 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%|          | 0/19 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 19/19 [00:00<00:00, 27981.66it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:01<00:02,  1.26s/it]
Extracting:  67%|██████▋   | 2/3 [00:02<00:01,  1.39s/it]
Extracting: 100%|██████████| 3/3 [00:04<00:00,  1.52s/it]
Extracting: 100%|██████████| 3/3 [00:04<00:00,  1.47s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/8 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 8/8 [00:00<00:00, 5278.34it/s]
+[05/26 05:22:36 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/63211cbfb48044bcbdbbd30a3aa3bb75
+[05/26 05:22:36 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/e9670b35612840bd92354dd8936d3c6a
+[05/26 05:22:36 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/0cb14e8a04de4c39ac8714a98fba9883
+[05/26 05:22:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5232_ceiling.xml
+[05/26 05:22:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5232, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:22:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:22:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects
+[05/26 05:22:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:22:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:22:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:22:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:22:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:22:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white rectangular domino piece and place it in or on the sculptural bowl with earthy texture'
+[05/26 05:22:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 5232 episode 0/1 collected=0/2
+[05/26 05:22:39 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:24:46,797] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:26:11 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 05:33:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 5232 episode 0 object objadomino_c97ea56f249340cea90c4f66e84108dc_1_0_7 completed with success=False
+[05/26 05:33:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5232: 1 episodes
+[05/26 05:33:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:33:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:33:56 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5232
+[05/26 05:33:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5232 in 3.56s (batch: 3.31s, save: 0.25s)
+[05/26 05:33:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5232
+[05/26 05:33:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5232: 0/1 successful episodes
+[05/26 05:33:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5297 (index 29/35)
+[05/26 05:33:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5297 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_02
+[05/26 05:33:57 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, 28669.20it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/10 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 10/10 [00:00<00:00, 1257.93it/s]
+[05/26 05:34:02 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Pot_12
+[05/26 05:34:02 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/cfe3c9eed1554f59ad7756e27d97c667
+[05/26 05:34:02 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/01395fa3a8e54abc8c32a016b2d8c5f5
+[05/26 05:34:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5297_ceiling.xml
+[05/26 05:34:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5297, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:34:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:34:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects
+[05/26 05:34:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:34:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:34:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:34:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:34:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:34:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the triangular golden chain with links and place it in or on the shallow ceramic dish with handle and pattern'
+[05/26 05:34:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 5297 episode 0/1 collected=0/2
+[05/26 05:34:06 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:36:13,639] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:40:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 5297 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_7 completed with success=False
+[05/26 05:40:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5297: 1 episodes
+[05/26 05:40:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:41:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:41:02 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5297
+[05/26 05:41:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5297 in 3.04s (batch: 2.92s, save: 0.12s)
+[05/26 05:41:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5297
+[05/26 05:41:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5297: 0/1 successful episodes
+[05/26 05:41:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5384 (index 30/35)
+[05/26 05:41:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5384 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_02
+[05/26 05:41:02 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'}}
+
Checking objects/objaverse:   0%|          | 0/33 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 33/33 [00:00<00:00, 38792.61it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/10 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 10/10 [00:00<00:00, 45442.08it/s]
+[05/26 05:41:06 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/f8b3d867de194e6cb587c89d54ed8f0e
+[05/26 05:41:06 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/934bd78c490140198db542aee7f765fa
+[05/26 05:41:06 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/2911e8c87d49402c9e3c18277c8b2b2a
+[05/26 05:41:06 Worker 0 INFO scene_maps.py:66] Deleted 1 blacklisted bodies from scene
+[05/26 05:41:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5384_ceiling.xml
+[05/26 05:41:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5384, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:41:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:41:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects
+[05/26 05:41:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:41:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:41:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:41:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:41:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:41:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the vintage folding camera and place it in or on the rustic round gray clay bowl'
+[05/26 05:41:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 5384 episode 0/1 collected=0/2
+[05/26 05:41:10 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 05:41:11 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene
+[2026-05-26 05:43:21,401] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:50:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 5384 episode 0 object objavintagecamera_0e0b88c0baf8434fbd236ee93dc8d107_1_0_6 completed with success=False
+[05/26 05:50:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5384: 1 episodes
+[05/26 05:50:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:50:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:50:50 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5384
+[05/26 05:50:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5384 in 3.76s (batch: 3.61s, save: 0.16s)
+[05/26 05:50:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5384
+[05/26 05:50:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5384: 0/1 successful episodes
+[05/26 05:50:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5431 (index 31/35)
+[05/26 05:50:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5431 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_02
+[05/26 05:50:50 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'}}
+
Checking objects/objaverse:   0%|          | 0/24 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 24/24 [00:00<00:00, 34053.89it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/7 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 7/7 [00:00<00:00, 27084.99it/s]
+[05/26 05:51:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/44f5be7685c1439c85cf9bc36e78578a
+[05/26 05:51:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/80f09dd8b3d34005b3625823091978af
+[05/26 05:51:03 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/b54b110dfccb4ea3a8f5a06cc65edc5a
+[05/26 05:51:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5431_ceiling.xml
+[05/26 05:51:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5431, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:51:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:51:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects
+[05/26 05:51:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:51:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:51:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:51:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:51:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:51:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the vintage metallic desk calendar and place it in or on the tan bowl with dark patterns'
+[05/26 05:51:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 5431 episode 0/1 collected=0/2
+[05/26 05:51:06 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 05:53:05,419] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 05:54:29 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 05:58:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 5431 episode 0 object objadeskcalendar_c0ddec650d304adbb5d6730f43205dda_1_0_7 completed with success=False
+[05/26 05:58:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5431: 1 episodes
+[05/26 05:58:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 05:58:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 05:58:23 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5431
+[05/26 05:58:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5431 in 3.18s (batch: 2.99s, save: 0.19s)
+[05/26 05:58:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5431
+[05/26 05:58:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5431: 0/1 successful episodes
+[05/26 05:58:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5474 (index 32/35)
+[05/26 05:58:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5474 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_02
+[05/26 05:58:23 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%|          | 0/24 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 24/24 [00:00<00:00, 32367.62it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/12 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 12/12 [00:00<00:00, 2079.82it/s]
+[05/26 05:58:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/Bowl_7
+[05/26 05:58:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/5efb7a6940894b5a835b4de2f3cf1559
+[05/26 05:58:28 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/5c5c3b9ae7874b709c10ac57dad33195
+[05/26 05:58:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5474_ceiling.xml
+[05/26 05:58:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5474, scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:58:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 05:58:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects
+[05/26 05:58:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 05:58:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 05:58:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 05:58:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 05:58:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 05:58:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tradingcard and place it in or on the faceted green striped bowl'
+[05/26 05:58:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 5474 episode 0/1 collected=0/2
+[05/26 05:58:32 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[2026-05-26 06:00:10,328] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:00:45 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 06:02:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 5474 episode 0 object objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_6 completed with success=False
+[05/26 06:02:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5474: 1 episodes
+[05/26 06:02:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:02:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:02:57 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5474
+[05/26 06:02:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5474 in 2.70s (batch: 2.57s, save: 0.14s)
+[05/26 06:02:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5474
+[05/26 06:02:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5474: 0/1 successful episodes
+[05/26 06:02:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5505 (index 33/35)
+[05/26 06:02:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5505 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_02
+[05/26 06:02:58 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%|          | 0/44 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 44/44 [00:00<00:00, 49030.12it/s]
+
Extracting:   0%|          | 0/4 [00:00<?, ?it/s]
Extracting:  25%|██▌       | 1/4 [00:01<00:03,  1.04s/it]
Extracting:  50%|█████     | 2/4 [00:02<00:01,  1.01it/s]
Extracting:  75%|███████▌  | 3/4 [00:03<00:01,  1.17s/it]
Extracting: 100%|██████████| 4/4 [00:04<00:00,  1.14s/it]
Extracting: 100%|██████████| 4/4 [00:04<00:00,  1.12s/it]
+
Checking grasps/droid_objaverse:   0%|          | 0/21 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 21/21 [00:00<00:00, 6864.12it/s]
+
Extracting:   0%|          | 0/3 [00:00<?, ?it/s]
Extracting:  33%|███▎      | 1/3 [00:00<00:01,  1.48it/s]
Extracting:  67%|██████▋   | 2/3 [00:01<00:00,  1.64it/s]
Extracting: 100%|██████████| 3/3 [00:01<00:00,  1.72it/s]
Extracting: 100%|██████████| 3/3 [00:01<00:00,  1.68it/s]
+[05/26 06:03:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/ac3628478f6c4042a16e77d6753fa413
+[05/26 06:03:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/94f253a91bc14f21be83592faf5891ff
+[05/26 06:03:05 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/9605b2b278774b5bb4e486695e6d920a
+[05/26 06:03:05 Worker 0 INFO scene_maps.py:66] Deleted 1 blacklisted bodies from scene
+[05/26 06:03:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5505_ceiling.xml
+[05/26 06:03:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5505, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:03:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:03:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects
+[05/26 06:03:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:03:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:03:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:03:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:03:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:03:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the wooden beaver carving and place it in or on the rustic bowl with chipped rim'
+[05/26 06:03:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 5505 episode 0/1 collected=0/2
+[05/26 06:03:10 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 06:03:10 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_9f8a86701e5549c6bf6004b4f58bdd31_1_0_5 in scene
+[05/26 06:03:10 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene
+[05/26 06:03:10 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyrocket_b9bdbba91b454caa8f8c82b946ded428_1_0_8 in scene
+[05/26 06:03:10 Worker 0 WARNING object_manager.py:1238] Could not find object objacomputermouse_c4c6d54694f3481eb60235314cbf2dc9_1_0_8 in scene
+[2026-05-26 06:05:00,284] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:06:06 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 06:13:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 5505 episode 0 object objawoodencarving_6589b07c9b2d49778e08d7e6110c04c6_1_0_9 completed with success=False
+[05/26 06:14:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5505: 1 episodes
+[05/26 06:14:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:14:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:14:07 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5505
+[05/26 06:14:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5505 in 3.25s (batch: 3.12s, save: 0.13s)
+[05/26 06:14:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5505
+[05/26 06:14:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5505: 0/1 successful episodes
+[05/26 06:14:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5541 (index 34/35)
+[05/26 06:14:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5541 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_02
+[05/26 06:14:08 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%|          | 0/45 [00:00<?, ?it/s]
Checking objects/objaverse: 100%|██████████| 45/45 [00:00<00:00, 43893.88it/s]
+
Checking grasps/droid_objaverse:   0%|          | 0/16 [00:00<?, ?it/s]
Checking grasps/droid_objaverse: 100%|██████████| 16/16 [00:00<00:00, 8146.26it/s]
+[05/26 06:14:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/0_0/12ca824c9c81470d994ceccb4b5a9061
+[05/26 06:14:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/1_0/976f5b6e9a1344628642051f680b176b
+[05/26 06:14:12 Worker 0 INFO json_eval_task_sampler.py:648] Added body to scene: place_receptacle/2_0/Bowl_19
+[05/26 06:14:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5541_ceiling.xml
+[05/26 06:14:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5541, scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:14:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val
+[05/26 06:14:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects
+[05/26 06:14:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed.
+[05/26 06:14:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/26 06:14:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'
+[05/26 06:14:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'
+[05/26 06:14:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/26 06:14:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green floral wedding invitation card and place it in or on the pixelated bowl filled with ramen'
+[05/26 06:14:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 5541 episode 0/1 collected=0/2
+[05/26 06:14:17 Worker 0 WARNING sensors.py:1071] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.
+[05/26 06:14:17 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene
+[05/26 06:14:17 Worker 0 WARNING object_manager.py:1238] Could not find object objasealanttube_75f15adc55404069bf598155d12d0ebd_1_0_5 in scene
+[05/26 06:14:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_7 in scene
+[2026-05-26 06:16:06,067] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth
+[05/26 06:16:46 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 06:22:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5541 episode 0 object objainvitationcard_e73597e02fef49fd988cbda0d6abe53b_1_0_8 completed with success=False
+[05/26 06:22:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5541: 1 episodes
+[05/26 06:22:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps
+[05/26 06:22:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended
+[05/26 06:22:08 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5541
+[05/26 06:22:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5541 in 3.01s (batch: 2.89s, save: 0.12s)
+[05/26 06:22:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5541
+[05/26 06:22:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5541: 0/1 successful episodes
+[05/26 06:22:08 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses
+[05/26 06:22:09 INFO pipeline.py:1496] Completed 35 houses, skipped 0 houses
+[05/26 06:22:09 INFO pipeline.py:1499] Success count: 0, Total count: 39
+[05/26 06:22:09 INFO pipeline.py:1500] Success rate: 0.00%
+Combined 39 episodes from 35 files → /tmp/tmpqpngflxq.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_02/eval/results.csv at-end: 0.0% | oracle: 0.0% of 39 episodes
+[2026-05-26 06:22:14,689] INFO MolmoSpaces simulator eval finished: success=0/39 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_02/eval
+[2026-05-26 06:22:14,690] 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_02/eval/results.csv
diff --git a/pnp_v2/pnp_v2/shards/shard_02/submission/eval_meta.json b/pnp_v2/pnp_v2/shards/shard_02/submission/eval_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05dff7a0ae06b94e1eb16e2de538e875292cbb96
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_02/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_02",
+  "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_02/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_02 --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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452",
+  "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_02/eval/results.csv"
+}
diff --git a/pnp_v2/pnp_v2/shards/shard_02/submission/results.csv b/pnp_v2/pnp_v2/shards/shard_02/submission/results.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec355474884511a711b63e141ffbbc4bb20d50df
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_02/submission/results.csv
@@ -0,0 +1,43 @@
+# 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452
+# 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,Irishpotato,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,32.690831,19.350624
+latest,Objaadjustablewrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.857723,0.0
+latest,Objaalarmclock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,8.205044,0.0
+latest,Objacan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.675332,0.0
+latest,Objacandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.650545,0.0
+latest,Objaclimbingshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.036716,0.0
+latest,Objacompass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.595025,0.0
+latest,Objadecorativebell,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.52578,0.0
+latest,Objadecorativechain,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.291312,0.0
+latest,Objadecorativeelement,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.122546,0.0
+latest,Objadecorativetext,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.108656,0.0
+latest,Objadecorativewand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,89.001809,0.0
+latest,Objadeskcalendar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.201275,0.0
+latest,Objadisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.201539,0.0
+latest,Objadomino,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.138223,0.0
+latest,Objadoorlock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,45.07486,0.0
+latest,Objaguitareffectspedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.778936,0.0
+latest,Objahandmirror,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,107.622292,0.0
+latest,Objahandtool,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,28.899682,15.285806
+latest,Objahourglass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.884883,0.0
+latest,Objainsect,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.173358,0.0
+latest,Objainvitationcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.415235,0.0
+latest,Objalever,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,165.318796,0.0
+latest,Objanecklace,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.285549,0.0
+latest,Objaneedlenosepliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.504138,0.0
+latest,Objapackagedfood,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.614849,0.0
+latest,Objapipecutter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.410138,0.0
+latest,Objascopemount,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.699857,0.0
+latest,Objasymbol,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.899295,0.0
+latest,Objataxidermybird,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.748205,0.0
+latest,Objatoysword,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,19.696742,0.0
+latest,Objatoytraincar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.209891,0.0
+latest,Objatradingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.288038,0.0
+latest,Objatrowel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,80.90051,0.0
+latest,Objavintagecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.452504,0.0
+latest,Objawalkietalkie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.363754,0.0
+latest,Objawoodencarving,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.670809,0.0
+latest,OVERALL,0,39,0.0,0.06,8.81,0,0.0,0.06,8.81,42.12321,29.735401
diff --git a/pnp_v2/pnp_v2/shards/shard_02/submission/run_command.sh b/pnp_v2/pnp_v2/shards/shard_02/submission/run_command.sh
new file mode 100644
index 0000000000000000000000000000000000000000..9dbe39b4bc240131c29644f67e69331082341764
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_02/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_02/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_02 --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_02/submission/shard_02_results.csv b/pnp_v2/pnp_v2/shards/shard_02/submission/shard_02_results.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec355474884511a711b63e141ffbbc4bb20d50df
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_02/submission/shard_02_results.csv
@@ -0,0 +1,43 @@
+# 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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452
+# 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,Irishpotato,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,32.690831,19.350624
+latest,Objaadjustablewrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.857723,0.0
+latest,Objaalarmclock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,8.205044,0.0
+latest,Objacan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.675332,0.0
+latest,Objacandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.650545,0.0
+latest,Objaclimbingshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.036716,0.0
+latest,Objacompass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.595025,0.0
+latest,Objadecorativebell,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.52578,0.0
+latest,Objadecorativechain,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.291312,0.0
+latest,Objadecorativeelement,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.122546,0.0
+latest,Objadecorativetext,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.108656,0.0
+latest,Objadecorativewand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,89.001809,0.0
+latest,Objadeskcalendar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.201275,0.0
+latest,Objadisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.201539,0.0
+latest,Objadomino,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.138223,0.0
+latest,Objadoorlock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,45.07486,0.0
+latest,Objaguitareffectspedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.778936,0.0
+latest,Objahandmirror,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,107.622292,0.0
+latest,Objahandtool,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,28.899682,15.285806
+latest,Objahourglass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.884883,0.0
+latest,Objainsect,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.173358,0.0
+latest,Objainvitationcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.415235,0.0
+latest,Objalever,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,165.318796,0.0
+latest,Objanecklace,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.285549,0.0
+latest,Objaneedlenosepliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.504138,0.0
+latest,Objapackagedfood,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.614849,0.0
+latest,Objapipecutter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.410138,0.0
+latest,Objascopemount,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.699857,0.0
+latest,Objasymbol,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.899295,0.0
+latest,Objataxidermybird,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.748205,0.0
+latest,Objatoysword,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,19.696742,0.0
+latest,Objatoytraincar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.209891,0.0
+latest,Objatradingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.288038,0.0
+latest,Objatrowel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,80.90051,0.0
+latest,Objavintagecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.452504,0.0
+latest,Objawalkietalkie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.363754,0.0
+latest,Objawoodencarving,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.670809,0.0
+latest,OVERALL,0,39,0.0,0.06,8.81,0,0.0,0.06,8.81,42.12321,29.735401
diff --git a/pnp_v2/pnp_v2/shards/shard_02/submission/submission_manifest.json b/pnp_v2/pnp_v2/shards/shard_02/submission/submission_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccfb5a323e81290d595ae5eb9bd10c62333076e4
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_02/submission/submission_manifest.json
@@ -0,0 +1,80 @@
+{
+  "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_02",
+  "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": 39.0,
+    "avg_episode_length": 449.0,
+    "oracle_done_rate": 0.0,
+    "success_rate_pct": 0.0,
+    "oracle_rate_pct": 0.0
+  },
+  "stats": {
+    "total_episodes": 39,
+    "success_count": 0,
+    "failure_count": 39,
+    "success_rate": 0.0,
+    "avg_episode_length": 449.0,
+    "min_episode_length": 449,
+    "max_episode_length": 449,
+    "num_houses": 35,
+    "house_success_rates": {
+      "house_3935": 0.0,
+      "house_3954": 0.0,
+      "house_3992": 0.0,
+      "house_4025": 0.0,
+      "house_4085": 0.0,
+      "house_4150": 0.0,
+      "house_4231": 0.0,
+      "house_4290": 0.0,
+      "house_4334": 0.0,
+      "house_4350": 0.0,
+      "house_4383": 0.0,
+      "house_4425": 0.0,
+      "house_4500": 0.0,
+      "house_4549": 0.0,
+      "house_4615": 0.0,
+      "house_4661": 0.0,
+      "house_4705": 0.0,
+      "house_4745": 0.0,
+      "house_4781": 0.0,
+      "house_4783": 0.0,
+      "house_4809": 0.0,
+      "house_4870": 0.0,
+      "house_4947": 0.0,
+      "house_4986": 0.0,
+      "house_5045": 0.0,
+      "house_5059": 0.0,
+      "house_5128": 0.0,
+      "house_5169": 0.0,
+      "house_5232": 0.0,
+      "house_5297": 0.0,
+      "house_5384": 0.0,
+      "house_5431": 0.0,
+      "house_5474": 0.0,
+      "house_5505": 0.0,
+      "house_5541": 0.0
+    },
+    "oracle_done_count": 0,
+    "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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452",
+  "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_02/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_02/submission/summary.json b/pnp_v2/pnp_v2/shards/shard_02/submission/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..8276e50822b2366360553c0fbf6bae71ceaddf69
--- /dev/null
+++ b/pnp_v2/pnp_v2/shards/shard_02/submission/summary.json
@@ -0,0 +1,122 @@
+{
+  "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_02",
+  "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_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452",
+  "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": 39.0,
+    "avg_episode_length": 449.0,
+    "oracle_done_rate": 0.0,
+    "success_rate_pct": 0.0,
+    "oracle_rate_pct": 0.0
+  },
+  "stats": {
+    "total_episodes": 39,
+    "success_count": 0,
+    "failure_count": 39,
+    "success_rate": 0.0,
+    "avg_episode_length": 449.0,
+    "min_episode_length": 449,
+    "max_episode_length": 449,
+    "num_houses": 35,
+    "house_success_rates": {
+      "house_3935": 0.0,
+      "house_3954": 0.0,
+      "house_3992": 0.0,
+      "house_4025": 0.0,
+      "house_4085": 0.0,
+      "house_4150": 0.0,
+      "house_4231": 0.0,
+      "house_4290": 0.0,
+      "house_4334": 0.0,
+      "house_4350": 0.0,
+      "house_4383": 0.0,
+      "house_4425": 0.0,
+      "house_4500": 0.0,
+      "house_4549": 0.0,
+      "house_4615": 0.0,
+      "house_4661": 0.0,
+      "house_4705": 0.0,
+      "house_4745": 0.0,
+      "house_4781": 0.0,
+      "house_4783": 0.0,
+      "house_4809": 0.0,
+      "house_4870": 0.0,
+      "house_4947": 0.0,
+      "house_4986": 0.0,
+      "house_5045": 0.0,
+      "house_5059": 0.0,
+      "house_5128": 0.0,
+      "house_5169": 0.0,
+      "house_5232": 0.0,
+      "house_5297": 0.0,
+      "house_5384": 0.0,
+      "house_5431": 0.0,
+      "house_5474": 0.0,
+      "house_5505": 0.0,
+      "house_5541": 0.0
+    },
+    "oracle_done_count": 0,
+    "oracle_done_rate": 0.0
+  },
+  "success_count": 0,
+  "total_count": 39,
+  "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_02/eval/results.csv",
+  "csv_overall_row": {
+    "policy": "latest",
+    "category": "OVERALL",
+    "successes": 0,
+    "total": 39,
+    "success_rate_pct": 0.0,
+    "ci_95_low_pct": 0.06,
+    "ci_95_high_pct": 8.81,
+    "oracle_successes": 0,
+    "oracle_rate_pct": 0.0,
+    "oracle_ci_95_low_pct": 0.06,
+    "oracle_ci_95_high_pct": 8.81,
+    "jerk_joint_mean": 42.12321,
+    "jerk_joint_std": 29.735401
+  },
+  "preview_video": null,
+  "skip_compose_videos": true,
+  "skip_csv": false,
+  "composed_video_count": 0,
+  "composed_videos": {}
+}
\ No newline at end of file