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diff --git a/v1-0/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/bdca5aee-da16-41e4-a5ae-129b44ec7bc2_success0.mp4 b/v1-0/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/bdca5aee-da16-41e4-a5ae-129b44ec7bc2_success0.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/v1-0/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ce281f56-4ef7-4f74-a642-b72216697c9b_success0.mp4 b/v1-0/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ce281f56-4ef7-4f74-a642-b72216697c9b_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c467f75943e554de1215e6424d7cf3769daf1c6
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@@ -0,0 +1,3 @@
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diff --git a/v1-0/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/cf107b37-9a30-474c-938c-e1f736e6888d_success0.mp4 b/v1-0/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/cf107b37-9a30-474c-938c-e1f736e6888d_success0.mp4
new file mode 100644
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diff --git a/v1-0/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/d0a9923c-ebe7-4fdf-b0cb-7e66d29356e6_success1.mp4 b/v1-0/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/d0a9923c-ebe7-4fdf-b0cb-7e66d29356e6_success1.mp4
new file mode 100644
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+++ b/v1-0/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/d0a9923c-ebe7-4fdf-b0cb-7e66d29356e6_success1.mp4
@@ -0,0 +1,3 @@
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diff --git a/v1-0/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/d4e81e18-16c7-4cb3-9050-065714f5e1ec_success1.mp4 b/v1-0/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/d4e81e18-16c7-4cb3-9050-065714f5e1ec_success1.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/v1-0/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e633ef0b-db83-496b-bc90-abde6a3c60b3_success1.mp4 b/v1-0/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e633ef0b-db83-496b-bc90-abde6a3c60b3_success1.mp4
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+++ b/v1-0/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e633ef0b-db83-496b-bc90-abde6a3c60b3_success1.mp4
@@ -0,0 +1,3 @@
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diff --git a/v1-0/__eval_r1/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-0/__eval_r1/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d498de17798346f0f057e517905dd9e7ac584eba
--- /dev/null
+++ b/v1-0/__eval_r1/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 189.74 seconds
+Results for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.15
diff --git a/v1-0/__eval_r1/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-0/__eval_r1/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5110afc66c2826a432ca39e21e68e598f377f9a0
--- /dev/null
+++ b/v1-0/__eval_r1/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 181.37 seconds
+Results for gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.40
diff --git a/v1-0/__eval_r1/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-0/__eval_r1/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df779c1f6315c980cbe3d5d229ae2a3da27359dd
--- /dev/null
+++ b/v1-0/__eval_r1/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 196.16 seconds
+Results for gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.05
diff --git a/v1-0/__eval_r1/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-0/__eval_r1/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2d1c301a6d14bd8ccde6e60873dce36995289f2f
--- /dev/null
+++ b/v1-0/__eval_r1/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 197.62 seconds
+Results for gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.00
diff --git a/v1-0/__eval_r1/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-0/__eval_r1/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ac43e15f25fc1a8dd48257e41f42226bbe1046ea
--- /dev/null
+++ b/v1-0/__eval_r1/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 196.70 seconds
+Results for gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.15
diff --git a/v1-0/__eval_r1/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-0/__eval_r1/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..071249ad906860081641371ae58fcb4fd3ef9b8a
--- /dev/null
+++ b/v1-0/__eval_r1/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 189.61 seconds
+Results for gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.25
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diff --git a/v1-0/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/b0400051-1064-4fdc-81ae-2a353bdb0aea_success0.mp4 b/v1-0/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/b0400051-1064-4fdc-81ae-2a353bdb0aea_success0.mp4
new file mode 100644
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diff --git a/v1-0/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/b2a39551-315d-482e-9d38-55c04b9c8cab_success0.mp4 b/v1-0/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/b2a39551-315d-482e-9d38-55c04b9c8cab_success0.mp4
new file mode 100644
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diff --git a/v1-0/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/b4c9d5a4-5b92-483d-b816-2bfc5a44aec8_success0.mp4 b/v1-0/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/b4c9d5a4-5b92-483d-b816-2bfc5a44aec8_success0.mp4
new file mode 100644
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diff --git a/v1-0/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c7fe99a2-e201-408f-a524-3560ac1455d7_success0.mp4 b/v1-0/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c7fe99a2-e201-408f-a524-3560ac1455d7_success0.mp4
new file mode 100644
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diff --git a/v1-0/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/cd0677f1-dc90-440d-99ca-999e441ca5e4_success0.mp4 b/v1-0/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/cd0677f1-dc90-440d-99ca-999e441ca5e4_success0.mp4
new file mode 100644
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diff --git a/v1-0/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e4c33a4b-c28f-43e5-ab98-1226c298dd67_success0.mp4 b/v1-0/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e4c33a4b-c28f-43e5-ab98-1226c298dd67_success0.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/v1-0/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/fd5fea2f-258a-43f0-9382-df36f9d46665_success0.mp4 b/v1-0/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/fd5fea2f-258a-43f0-9382-df36f9d46665_success0.mp4
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+++ b/v1-0/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/fd5fea2f-258a-43f0-9382-df36f9d46665_success0.mp4
@@ -0,0 +1,3 @@
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diff --git a/v1-0/__eval_r2/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-0/__eval_r2/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bcf9b40420d40044e4e36f4bdae9bae37a75751d
--- /dev/null
+++ b/v1-0/__eval_r2/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 192.72 seconds
+Results for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.15
diff --git a/v1-0/__eval_r2/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-0/__eval_r2/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..efb272b38386d4d2d5600b0b10ea2675aa99e452
--- /dev/null
+++ b/v1-0/__eval_r2/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 187.59 seconds
+Results for gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.15
diff --git a/v1-0/__eval_r2/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-0/__eval_r2/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7bb03b4c0abd78e4f9635675f7271576b31edff0
--- /dev/null
+++ b/v1-0/__eval_r2/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 188.54 seconds
+Results for gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.40
diff --git a/v1-0/__eval_r2/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-0/__eval_r2/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7462b0bb2ef53b87f2a0c871cbe6643f3bfed099
--- /dev/null
+++ b/v1-0/__eval_r2/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 199.22 seconds
+Results for gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.20
diff --git a/v1-0/__eval_r2/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-0/__eval_r2/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3f9cee06cedaff6db5763407827330bda316ad01
--- /dev/null
+++ b/v1-0/__eval_r2/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 204.61 seconds
+Results for gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.15
diff --git a/v1-0/__eval_r2/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-0/__eval_r2/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..99772b667b3f01c6eba8ad1863adbbdd2eb57ed4
--- /dev/null
+++ b/v1-0/__eval_r2/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 197.29 seconds
+Results for gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.20
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diff --git a/v1-0/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c4a0377b-0b80-4222-8836-153b8ceecca2_success0.mp4 b/v1-0/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c4a0377b-0b80-4222-8836-153b8ceecca2_success0.mp4
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diff --git a/v1-0/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e20f4b8a-11b5-4001-944c-6a5b4501a886_success0.mp4 b/v1-0/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e20f4b8a-11b5-4001-944c-6a5b4501a886_success0.mp4
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diff --git a/v1-0/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/eb55e835-7bd6-4977-bd77-2e817eddb54b_success0.mp4 b/v1-0/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/eb55e835-7bd6-4977-bd77-2e817eddb54b_success0.mp4
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diff --git a/v1-0/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ed394fdc-35a1-4729-b62a-57948e67fb68_success0.mp4 b/v1-0/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ed394fdc-35a1-4729-b62a-57948e67fb68_success0.mp4
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diff --git a/v1-0/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/f3ae638c-38e8-4e8f-a9bb-7ff0f5e7ff85_success0.mp4 b/v1-0/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/f3ae638c-38e8-4e8f-a9bb-7ff0f5e7ff85_success0.mp4
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diff --git a/v1-0/__eval_r3/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-0/__eval_r3/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b44a1238d5349abdeaf027217114c65692620aa6
--- /dev/null
+++ b/v1-0/__eval_r3/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 204.10 seconds
+Results for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.10
diff --git a/v1-0/__eval_r3/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-0/__eval_r3/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7ce73060424f218e933b359af330a1fffd7df687
--- /dev/null
+++ b/v1-0/__eval_r3/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 189.79 seconds
+Results for gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.20
diff --git a/v1-0/__eval_r3/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-0/__eval_r3/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a6b0a8803dce1b7115a99e36d2b2dad09d7e2cff
--- /dev/null
+++ b/v1-0/__eval_r3/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 190.79 seconds
+Results for gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.30
diff --git a/v1-0/__eval_r3/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-0/__eval_r3/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9177905395ae3ce94680ce761851ff4b9d9968f0
--- /dev/null
+++ b/v1-0/__eval_r3/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 200.33 seconds
+Results for gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.10
diff --git a/v1-0/__eval_r3/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-0/__eval_r3/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c95efe729f024abd2abae108cc3a2f65a3a17566
--- /dev/null
+++ b/v1-0/__eval_r3/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 198.07 seconds
+Results for gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.10
diff --git a/v1-0/__eval_r3/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-0/__eval_r3/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..03eb089d2a7f7c77f64aafc7070647a0e965b072
--- /dev/null
+++ b/v1-0/__eval_r3/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,188 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: Nan, Inf or huge value in QACC at DOF 47. The simulation is unstable. Time = 30.7700.
+
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 191.94 seconds
+Results for gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.20