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diff --git a/v1-1/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c8ad576a-9c7c-462a-938a-0818e816e241_success0.mp4 b/v1-1/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c8ad576a-9c7c-462a-938a-0818e816e241_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1db335ebb4afd220c28573692cbfdce76e345ed4
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+++ b/v1-1/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c8ad576a-9c7c-462a-938a-0818e816e241_success0.mp4
@@ -0,0 +1,3 @@
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diff --git a/v1-1/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/d1e369bf-434f-4e76-addf-ab4458ccec72_success0.mp4 b/v1-1/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/d1e369bf-434f-4e76-addf-ab4458ccec72_success0.mp4
new file mode 100644
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diff --git a/v1-1/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e2946ff2-cfef-4db3-bfc0-f518a2856986_success0.mp4 b/v1-1/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e2946ff2-cfef-4db3-bfc0-f518a2856986_success0.mp4
new file mode 100644
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+++ b/v1-1/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e2946ff2-cfef-4db3-bfc0-f518a2856986_success0.mp4
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diff --git a/v1-1/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ee2bb041-8a3d-4cc1-98ff-d8d2398d4d96_success0.mp4 b/v1-1/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ee2bb041-8a3d-4cc1-98ff-d8d2398d4d96_success0.mp4
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+++ b/v1-1/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ee2bb041-8a3d-4cc1-98ff-d8d2398d4d96_success0.mp4
@@ -0,0 +1,3 @@
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diff --git a/v1-1/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ee50aaa8-b533-4756-89ad-75cd4bc966a6_success0.mp4 b/v1-1/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ee50aaa8-b533-4756-89ad-75cd4bc966a6_success0.mp4
new file mode 100644
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+++ b/v1-1/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ee50aaa8-b533-4756-89ad-75cd4bc966a6_success0.mp4
@@ -0,0 +1,3 @@
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diff --git a/v1-1/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/f29a247e-3918-4b3a-b1bf-20dc59658784_success0.mp4 b/v1-1/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/f29a247e-3918-4b3a-b1bf-20dc59658784_success0.mp4
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+++ b/v1-1/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/f29a247e-3918-4b3a-b1bf-20dc59658784_success0.mp4
@@ -0,0 +1,3 @@
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diff --git a/v1-1/__eval_r1/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-1/__eval_r1/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..da5bd8ddd65421e15a78f61e31a5a44331c25e86
--- /dev/null
+++ b/v1-1/__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] 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] 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] 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 196.60 seconds
+Results for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.15
diff --git a/v1-1/__eval_r1/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-1/__eval_r1/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fc7faa804645dbb8bafad58ae12535e04076d755
--- /dev/null
+++ b/v1-1/__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()
+[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)
+/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()
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[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)
+/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] 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 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] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have 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.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 192.10 seconds
+Results for gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.35
diff --git a/v1-1/__eval_r1/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-1/__eval_r1/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d97013f4caefb7731c96165088ec5a5efa8889eb
--- /dev/null
+++ b/v1-1/__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()
+/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] 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] 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.")
+/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 194.05 seconds
+Results for gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.10
diff --git a/v1-1/__eval_r1/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-1/__eval_r1/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6a117fe72b323865c740eb2b77c8e657e9a95679
--- /dev/null
+++ b/v1-1/__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] 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] 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 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 201.43 seconds
+Results for gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.15
diff --git a/v1-1/__eval_r1/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-1/__eval_r1/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..24bc21b5ed6eb12bba60cb729c81253565450921
--- /dev/null
+++ b/v1-1/__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)
+/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.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 201.72 seconds
+Results for gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.00
diff --git a/v1-1/__eval_r1/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-1/__eval_r1/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b9f3db00a5b02fd0d1fae0aea8bf14aa2f2f5907
--- /dev/null
+++ b/v1-1/__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] 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)
+/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)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 191.42 seconds
+Results for gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.05
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diff --git a/v1-1/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/8cd43a51-0162-46a3-9802-77f37a929ac1_success0.mp4 b/v1-1/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/8cd43a51-0162-46a3-9802-77f37a929ac1_success0.mp4
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diff --git a/v1-1/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/a4502d6c-f581-434c-ae19-365112b88093_success0.mp4 b/v1-1/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/a4502d6c-f581-434c-ae19-365112b88093_success0.mp4
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diff --git a/v1-1/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/b3801eb4-0460-4e3e-9cc7-84a0de2f8a52_success0.mp4 b/v1-1/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/b3801eb4-0460-4e3e-9cc7-84a0de2f8a52_success0.mp4
new file mode 100644
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diff --git a/v1-1/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/cb1effa5-2a1d-400d-aa0c-ae2ecb659fef_success0.mp4 b/v1-1/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/cb1effa5-2a1d-400d-aa0c-ae2ecb659fef_success0.mp4
new file mode 100644
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diff --git a/v1-1/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e224ae2f-8be6-4075-8b2d-341d55bc6c1a_success0.mp4 b/v1-1/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e224ae2f-8be6-4075-8b2d-341d55bc6c1a_success0.mp4
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diff --git a/v1-1/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e7c729c4-f0ea-4ca7-93e8-db90d70942ee_success0.mp4 b/v1-1/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e7c729c4-f0ea-4ca7-93e8-db90d70942ee_success0.mp4
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diff --git a/v1-1/__eval_r2/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-1/__eval_r2/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2137251291e03a08f031fce85c70942e499ac0e5
--- /dev/null
+++ b/v1-1/__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] 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)
+/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)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 200.33 seconds
+Results for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.00
diff --git a/v1-1/__eval_r2/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-1/__eval_r2/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3b8ed4d5ec234d30366c36c7f804541e9e5f0ceb
--- /dev/null
+++ b/v1-1/__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 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] 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)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 186.98 seconds
+Results for gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.10
diff --git a/v1-1/__eval_r2/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-1/__eval_r2/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b8d47b89e81cb3f47aad3a5712e1618e6259d0d0
--- /dev/null
+++ b/v1-1/__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] 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] 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.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 198.56 seconds
+Results for gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.15
diff --git a/v1-1/__eval_r2/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-1/__eval_r2/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1c863ff91fd1ae87d4ec7c4d738f5ba2ec1c974d
--- /dev/null
+++ b/v1-1/__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] 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.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 199.01 seconds
+Results for gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.10
diff --git a/v1-1/__eval_r2/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-1/__eval_r2/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..44fc3391f7b510108bc5aa09d5ed6f548e2de707
--- /dev/null
+++ b/v1-1/__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] 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)
+/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 199.19 seconds
+Results for gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.20
diff --git a/v1-1/__eval_r2/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-1/__eval_r2/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..58bc10a17dd541b8b91bae25f231412ff1fcda00
--- /dev/null
+++ b/v1-1/__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] 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)
+/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.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 199.97 seconds
+Results for gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.00
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diff --git a/v1-1/__eval_r3/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-1/__eval_r3/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5c65ecf80f42a78fbf5dcdb898eb001927d1f99b
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+++ b/v1-1/__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] 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)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 194.16 seconds
+Results for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.05
diff --git a/v1-1/__eval_r3/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-1/__eval_r3/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..46eac8603746b0a6c4bf876677d800fe20ab095a
--- /dev/null
+++ b/v1-1/__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)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 188.42 seconds
+Results for gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.15
diff --git a/v1-1/__eval_r3/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-1/__eval_r3/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0c0c299cb690ce9d5004a0b458d5cf7c5796390d
--- /dev/null
+++ b/v1-1/__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] 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] 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 WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 197.07 seconds
+Results for gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.10
diff --git a/v1-1/__eval_r3/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-1/__eval_r3/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c72372c8056088167366a25ee44cea5884330396
--- /dev/null
+++ b/v1-1/__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] 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] 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] 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.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 202.32 seconds
+Results for gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.10
diff --git a/v1-1/__eval_r3/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-1/__eval_r3/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3cd0b5996b2fb2ac018f3bae7eedce75052c314b
--- /dev/null
+++ b/v1-1/__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 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 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 203.98 seconds
+Results for gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.05
diff --git a/v1-1/__eval_r3/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt b/v1-1/__eval_r3/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a081ff2dc49a55b425ac8210a99d54b7efe3e5db
--- /dev/null
+++ b/v1-1/__eval_r3/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] 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)
+/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)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 188.06 seconds
+Results for gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.05