diff --git a/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/0d1bc5ca-c589-4c7f-961f-0b76c8268160_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/0d1bc5ca-c589-4c7f-961f-0b76c8268160_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f2d241259848b09f82976e6584d030fb019b630
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/0d1bc5ca-c589-4c7f-961f-0b76c8268160_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd0095b776d9a5241be8b1ecc657a904826de67989e8e18a9da0ad03a14974ba
+size 3620939
diff --git a/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/17dcd56d-f649-4a87-a367-14dcb0db2555_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/17dcd56d-f649-4a87-a367-14dcb0db2555_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e7068643782f3406322189fd1d9af0b6c4ccab91
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/17dcd56d-f649-4a87-a367-14dcb0db2555_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c905b5d71e2a81e62e7217c46596c3720a3fd5308cc14c60363bbead57fa139
+size 3843629
diff --git a/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/1b0a683b-b6cd-4cb9-85c2-aec8fd67d0f3_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/1b0a683b-b6cd-4cb9-85c2-aec8fd67d0f3_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66f71d6445b1a6a69c1e9956ee2f876bc8e43bf7
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/1b0a683b-b6cd-4cb9-85c2-aec8fd67d0f3_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d6c3bb7879e58d7b0f84bff26675623ac28a4f03882b278eb58001401a93cd4
+size 3775328
diff --git a/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/2aafb6ea-3f02-4dc3-94f4-8868fd2ebdbe_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/2aafb6ea-3f02-4dc3-94f4-8868fd2ebdbe_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22717980b5e017e05673dece2c9e6e616406daaf
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/2aafb6ea-3f02-4dc3-94f4-8868fd2ebdbe_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fd8f58cda9e23732d1ec12ef81e7684c53686c47890e6cd472de16794234b93
+size 3576956
diff --git a/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3541364c-3ec6-4394-b68a-d54d02ab89e3_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3541364c-3ec6-4394-b68a-d54d02ab89e3_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..57c8bea385cbba79837f093b6d2928120b8dbc4c
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3541364c-3ec6-4394-b68a-d54d02ab89e3_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd5c0f0a910a2671604a0a7478f0411b3675be6eb81f4454a6e2d62dfc221765
+size 4557549
diff --git a/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3ba8cc29-0b4c-421e-b844-96aaf395dc6f_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3ba8cc29-0b4c-421e-b844-96aaf395dc6f_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a3a33257376faf224f6bb171a4c9cc21ab6e8811
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3ba8cc29-0b4c-421e-b844-96aaf395dc6f_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0776b2ca9ab83401cdf754da895eaa97433902801b02c2554e87b68870e54579
+size 1934468
diff --git a/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/47166d7e-3279-41ff-ab35-7facfb646b2c_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/47166d7e-3279-41ff-ab35-7facfb646b2c_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b2352e052a06f0fcbff7081a19e572dbca97047
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/47166d7e-3279-41ff-ab35-7facfb646b2c_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:784b4eaef69e200f71d5fadf14868e3a202c1b08e236ac41ec953a91a966c811
+size 3323487
diff --git a/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/54dd004d-f040-4733-871f-eac4b9ed3362_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/54dd004d-f040-4733-871f-eac4b9ed3362_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a9c9ada333a7f0612ad0a541d171e167f6963f04
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/54dd004d-f040-4733-871f-eac4b9ed3362_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6334f8adb1579d6ab301721c072a7b3c65994026b6a3c3f7bd4a7abc91c5ae33
+size 5175643
diff --git a/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/56fa85ab-0a1a-4ca0-a398-90a2bf8dc1d4_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/56fa85ab-0a1a-4ca0-a398-90a2bf8dc1d4_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66a78a66e430eb50d8dda3755b11db6c0761fea3
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/56fa85ab-0a1a-4ca0-a398-90a2bf8dc1d4_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ee5d4504365eda4788597f64350b6999306b12bc140b635eabed5def390f17a
+size 4676493
diff --git a/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/5ca63241-1ecd-4c37-9187-def291b0e022_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/5ca63241-1ecd-4c37-9187-def291b0e022_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..96ef58b52a21688a4d12eae3db4e371a1d21921f
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/5ca63241-1ecd-4c37-9187-def291b0e022_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a219fca035dadff62e16e064e0901e575b286fae220309e283cdfe3524ad0da3
+size 4396583
diff --git a/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/6812c284-77ea-4800-85be-5dac91b03922_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/6812c284-77ea-4800-85be-5dac91b03922_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0509dc8825740ac80d88ca6be546fdc14c26e678
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/6812c284-77ea-4800-85be-5dac91b03922_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da0a0d95b2ec95333c83802414f7e23ecadb85b9c2426a4b617a24b7c471f154
+size 2922986
diff --git a/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/693b8594-c6d2-4e7b-902a-67ff692629b3_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/693b8594-c6d2-4e7b-902a-67ff692629b3_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..968813662023299aced146eb9d494e0a0919326e
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/693b8594-c6d2-4e7b-902a-67ff692629b3_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e4c29bbb9db9d837231fc77c3b205cc1e2a13709fef6dc72d9f1a122e8db3c8
+size 4798414
diff --git a/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/7c4dd8a0-bd46-4a94-a3cf-e1e24de21984_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/7c4dd8a0-bd46-4a94-a3cf-e1e24de21984_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..39aaafa2f509ee23b623ce023c3cc75afd42b287
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/7c4dd8a0-bd46-4a94-a3cf-e1e24de21984_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd41d63f9e23fa787a137ec9dd64c65929cc15fb1a1a70c67e2c69cd4b4914c0
+size 5245783
diff --git a/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/97a60561-2522-47eb-a208-0e2903680a66_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/97a60561-2522-47eb-a208-0e2903680a66_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8226eacfaabea0ebffce9e929a8b27324145c1f1
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/97a60561-2522-47eb-a208-0e2903680a66_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d3c6924867deb65b3b688a15185bca1fb9083e6109602b7a7f97ab5350f3e62
+size 3035419
diff --git a/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/af6bb87b-b6b8-4390-861d-384d264aca30_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/af6bb87b-b6b8-4390-861d-384d264aca30_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..625f0978cf174348b7eef49a1f50f54ed0c3e39b
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/af6bb87b-b6b8-4390-861d-384d264aca30_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc4fe8a34727902f8c761c6fae7070692f20c5e473de4b71fa3cfbf6af66ad2e
+size 4881905
diff --git a/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/bff4d805-4dc3-4e5d-a50c-847c7590b5a6_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/bff4d805-4dc3-4e5d-a50c-847c7590b5a6_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61e09ea44a5389d72b622ef1897e661d6933e6a8
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/bff4d805-4dc3-4e5d-a50c-847c7590b5a6_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6497189ad7188d7d564d0c8879d2c2a50c2796f9298e9d20e280990efcb28ae3
+size 4121504
diff --git a/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c8be5a28-3bfd-4610-b0fa-18d7de6f7753_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c8be5a28-3bfd-4610-b0fa-18d7de6f7753_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a7713df32f6697398858f62c69410bfb195cf08
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c8be5a28-3bfd-4610-b0fa-18d7de6f7753_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d577531fe05c74d988941b91e2e55f91862b3014db5ea8bee0115aa54f655436
+size 3624184
diff --git a/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/d9628dc5-ed34-40c8-9664-e0aeaa4b740c_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/d9628dc5-ed34-40c8-9664-e0aeaa4b740c_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af10ee094d00f48952041e05194429a514eacae8
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/d9628dc5-ed34-40c8-9664-e0aeaa4b740c_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9615854c43ee8541a0d98017d12c1b80bc00dfdb3dac6bdff206ef98d7c66404
+size 3432574
diff --git a/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ec567892-4e1d-4ffd-ac5d-8cf35431a8a1_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ec567892-4e1d-4ffd-ac5d-8cf35431a8a1_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d63cd09ccf6493b49081a32a2b92af9f5cab637
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ec567892-4e1d-4ffd-ac5d-8cf35431a8a1_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca3cfc03c245332704bc178bc4a6f2fab0149414982e7a8bf15c3bdeee07f734
+size 2820935
diff --git a/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ff1a0159-df30-4988-b87a-f1c875cfec79_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ff1a0159-df30-4988-b87a-f1c875cfec79_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68e77ca04288e3124a7dfad855288a8c6f85bd82
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ff1a0159-df30-4988-b87a-f1c875cfec79_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99f26271d88aaf1780bca18e4f5b56caa9685e80ab02bbc7d6dab4f2354d389e
+size 3603776
diff --git a/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/14410fc1-13d5-4b0c-9847-1776ea5cb20c_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/14410fc1-13d5-4b0c-9847-1776ea5cb20c_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..996bd55ceef93dfe7bfb5673681d069a2389555e
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/14410fc1-13d5-4b0c-9847-1776ea5cb20c_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08272b7e671cec915d661abf5b6f51133af631467e796bc840e1d38bed4201fe
+size 4056118
diff --git a/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/30ce2a35-ced9-410f-9891-4b2fe0197902_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/30ce2a35-ced9-410f-9891-4b2fe0197902_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..245a8570da61bbab926a9d7a9e23bd7f0d18882b
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/30ce2a35-ced9-410f-9891-4b2fe0197902_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:896d67a60b65525d3b93bf24fa9ab5a28a1552f56a94e2a3ad0246bf812e081c
+size 4110081
diff --git a/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/433c768d-97fe-41c8-ab1c-13774580bf3c_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/433c768d-97fe-41c8-ab1c-13774580bf3c_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..032ddfacaeb26f8da9a720905afe80687c98e347
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/433c768d-97fe-41c8-ab1c-13774580bf3c_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0236498ebc4e59025429768ae1d8b80a5029c5143e47deab7b200cc07265b330
+size 4318192
diff --git a/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/4d4f26fa-64ac-4788-b326-26203192c39c_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/4d4f26fa-64ac-4788-b326-26203192c39c_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..879a284930aabb204c2dc8ccb5f83a8a57e4e028
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/4d4f26fa-64ac-4788-b326-26203192c39c_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bd9b276de963cb829f8f994c56dec19b688f92092fbb8afe0468f86e0061f8a
+size 6275550
diff --git a/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/52f03e5c-4c0e-4cea-9a7a-402ec6a9df77_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/52f03e5c-4c0e-4cea-9a7a-402ec6a9df77_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..39c648a387a1df34262ddff8e54a4fcfdd4a1ace
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/52f03e5c-4c0e-4cea-9a7a-402ec6a9df77_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a17fef32e3176658a0a43cb8cfdf5c56d1af179fafcedd5aeadd0f37e00b09b
+size 7300917
diff --git a/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/6a7d6c75-af86-4053-bfae-ead9cf71854e_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/6a7d6c75-af86-4053-bfae-ead9cf71854e_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..870f3485e0776bab68d2bf178f36a11b4503afe3
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/6a7d6c75-af86-4053-bfae-ead9cf71854e_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ae3f1617b1cee4667fc2a8798045f52b0d11fc2365f1770fcb2a029f2b1defd
+size 5835333
diff --git a/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/6bad4d18-03a4-4610-a404-31b61c42c93f_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/6bad4d18-03a4-4610-a404-31b61c42c93f_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93243bd1904f9f7098d600e188ec1ae4053714b1
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/6bad4d18-03a4-4610-a404-31b61c42c93f_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae723b3f8bad25659e033b73e993fcd0979b0b80e387855720f67c7c6e84ac70
+size 5088745
diff --git a/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/6f26d8c3-6288-40d9-8a23-9529233aeb1e_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/6f26d8c3-6288-40d9-8a23-9529233aeb1e_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d06d518c19772328f624dd616d8f29822c3b170
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/6f26d8c3-6288-40d9-8a23-9529233aeb1e_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dc77185cbc2e4e5a7f0937a924f57e601c3b5028591fae845a5ea1e9708af82
+size 4901012
diff --git a/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/79ec8735-3a37-424b-8f92-3d9bc14bc685_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/79ec8735-3a37-424b-8f92-3d9bc14bc685_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bb97218c77451e4ba6dc22d340bc22cc12ac4242
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/79ec8735-3a37-424b-8f92-3d9bc14bc685_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5d8304c01e09d901b704b8295c43490db477569c78dc89f0b07644497d205e6
+size 3794532
diff --git a/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/899fc801-0d19-4fe1-8831-fd8fa3038b89_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/899fc801-0d19-4fe1-8831-fd8fa3038b89_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d9e9ddf3c0124047311229fb52be7ea989369922
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/899fc801-0d19-4fe1-8831-fd8fa3038b89_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da8869ea2e00d7d9376634ebeb8dbac6cc67d44d7c73dcaefa711242c73e6a09
+size 4022844
diff --git a/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/acf990b4-71dc-436f-8f5c-5d3328f5b6af_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/acf990b4-71dc-436f-8f5c-5d3328f5b6af_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..062f3b81b4e15d858ae5cfe429639e8caea68807
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/acf990b4-71dc-436f-8f5c-5d3328f5b6af_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:892bcf6c683d4ad2f1cc6fbdf45080033ad1f0e503d4e83d3b2122cbd645c50c
+size 5107814
diff --git a/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/b612a435-241a-4509-bd3e-871ad93bb2a8_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/b612a435-241a-4509-bd3e-871ad93bb2a8_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..abd823d7241bf60f6323c833411c4c6c7f99cd74
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/b612a435-241a-4509-bd3e-871ad93bb2a8_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6ec8318310089e3e14230cc359939db72803b8d700c4937f0e451c7d6e00df7
+size 6508926
diff --git a/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c68407ba-21bf-44a6-a538-f20b3f7b848e_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c68407ba-21bf-44a6-a538-f20b3f7b848e_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f32b3d1a13c107671b01dd193b4030f0ab8e040b
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c68407ba-21bf-44a6-a538-f20b3f7b848e_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5440c2831bfad9e654ef27e0b3dd67bd3664747b2ea13c78620c0a0d4702e4aa
+size 4898855
diff --git a/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/d4b3bc70-060e-4797-b053-3224be3d5ea9_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/d4b3bc70-060e-4797-b053-3224be3d5ea9_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5659c003e111d18909301f2783dbc5aa1e8f547e
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/d4b3bc70-060e-4797-b053-3224be3d5ea9_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ee4b7015e9ecc2380a9aefd1a18da6803cf0eb058fb1d86248d3d41a78573d5
+size 4343515
diff --git a/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/de1db96d-2aa4-4742-ae17-1bda8eb2fbed_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/de1db96d-2aa4-4742-ae17-1bda8eb2fbed_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..96a3c9c709d764164094335bc7ed8ee2c591473a
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/de1db96d-2aa4-4742-ae17-1bda8eb2fbed_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c15f17ba99a8904c849d938e82e84179067a4d5370f59019995366393115098
+size 6266698
diff --git a/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e6c1c185-48ad-4637-ba0e-7da4b83a2337_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e6c1c185-48ad-4637-ba0e-7da4b83a2337_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17806eaa6dfd312887adae93516dd896fdb59a49
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e6c1c185-48ad-4637-ba0e-7da4b83a2337_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35f512b163a0ba8335672533310323e1f5975a828ba06cb0f1a04744664953c5
+size 6111950
diff --git a/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ea545f09-f5a7-43f6-a0ac-61daedbbde7b_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ea545f09-f5a7-43f6-a0ac-61daedbbde7b_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f0cfc2b4d09c342fe24db2652144a766a1152cf
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ea545f09-f5a7-43f6-a0ac-61daedbbde7b_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:835fd2fff987c4fe142c825ad19ce0b5df608478b4eddfb3a58d5407b5b21fa2
+size 4489690
diff --git a/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/eee242bf-4b6e-420f-b3f4-4b47c927daf1_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/eee242bf-4b6e-420f-b3f4-4b47c927daf1_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66f784af42cc4b365cfbe6d5c5b3f2fb5a7f4277
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/eee242bf-4b6e-420f-b3f4-4b47c927daf1_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fcaa0dd3569ccd7b292764eb71b921b8964eb771bb8dc0d12bc6cd4249128de
+size 3976023
diff --git a/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ef315aed-0896-4dfb-a5a9-232efab61560_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ef315aed-0896-4dfb-a5a9-232efab61560_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c26e80b9cdf2bf3be150ad59b57ccf27f492fd42
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ef315aed-0896-4dfb-a5a9-232efab61560_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49d2b804ebda3183a8f2b30237addb87b99a2883279fd970447c0ca14ecb351e
+size 5349178
diff --git a/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/f9667b7f-d584-4292-bae5-5445703c01c3_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/f9667b7f-d584-4292-bae5-5445703c01c3_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..726f62cd4a55a011ece567c88f0af834d5688c63
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/f9667b7f-d584-4292-bae5-5445703c01c3_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c507535630347df9e61591038b8c43b44ec4008f5eabf349d442e7f7a69150d3
+size 4679452
diff --git a/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/09b1ce0e-7f0c-423c-8a81-f93338c4ea4f_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/09b1ce0e-7f0c-423c-8a81-f93338c4ea4f_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..711b656cc367038e39348ec40452d64b4079df71
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/09b1ce0e-7f0c-423c-8a81-f93338c4ea4f_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2712992b2f7f94410518de1188be3d3d6eebb84f03aecd8e0158ce90754cdfc7
+size 4009024
diff --git a/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/0d5f44a5-d9ff-4b59-81e5-dac2a11504eb_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/0d5f44a5-d9ff-4b59-81e5-dac2a11504eb_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f56007e955f213585d68ea57781cb2e5f356417f
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/0d5f44a5-d9ff-4b59-81e5-dac2a11504eb_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:351ca2091a8bcc0a289be72609cb49e7201c10a9d236bfc4e0b938175b4758ca
+size 5775130
diff --git a/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/22d2153a-cccf-470d-8bbb-be0241590b5e_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/22d2153a-cccf-470d-8bbb-be0241590b5e_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7f7615e9ea066ac3c0f81519b1fb1d5b08af6a1
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/22d2153a-cccf-470d-8bbb-be0241590b5e_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8985bbde2f5f128b86a45752c8718e472491c9fd9c313d32ca79e536b1eed4c2
+size 4244215
diff --git a/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/2d98303b-ce03-429a-b81a-c216e07a8585_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/2d98303b-ce03-429a-b81a-c216e07a8585_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f8745d81d25cd3d69faaf6fafb7ed7ac1bfcde0
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/2d98303b-ce03-429a-b81a-c216e07a8585_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3df74ab29b49c4827afa78aa7c38894791bc6b9aac9dde29e24f1b768afa9f4d
+size 4562697
diff --git a/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/2eaa8456-ebaa-4530-9006-fe89f151aed6_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/2eaa8456-ebaa-4530-9006-fe89f151aed6_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db8086dc1a8f60d2dd9e44d3ea3d0634b3f0df52
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/2eaa8456-ebaa-4530-9006-fe89f151aed6_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:672405da848ae528ac5641a2f6cede23ce2cf4dc43b2a3cd0ab5f5f9f1968ae9
+size 5675358
diff --git a/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/2f8e971e-c245-448a-8479-1756d5c83119_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/2f8e971e-c245-448a-8479-1756d5c83119_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..982822ef33723b913abc625067179f38070b3ba2
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/2f8e971e-c245-448a-8479-1756d5c83119_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b122016fb0318124c1733a6664350299accab9157d096da7540c559578953b5
+size 6825369
diff --git a/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/46d91498-0f53-4325-94b6-8744090e85b3_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/46d91498-0f53-4325-94b6-8744090e85b3_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..378d206fdb04e29e273aac8b2e01efb2c6897033
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/46d91498-0f53-4325-94b6-8744090e85b3_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:099c75bb8bb57817d855981a320cc14a34b41591a51e9a6866caf668cb1c70bc
+size 4148662
diff --git a/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/6f11c7a7-efd3-4f67-abae-d8991e812f8f_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/6f11c7a7-efd3-4f67-abae-d8991e812f8f_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3bd157a9c8fddd6001f303b5462270940dde8ae7
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/6f11c7a7-efd3-4f67-abae-d8991e812f8f_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28943d16f9c3ef480d09d59f05516e53b5c6636cf0643c7b2c9496e7033a4ca8
+size 3853615
diff --git a/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/7b9cdeba-9682-4c7d-9783-6674be2f1fb1_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/7b9cdeba-9682-4c7d-9783-6674be2f1fb1_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f481c6abc38801082f9905df33e34de2fff20e7b
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/7b9cdeba-9682-4c7d-9783-6674be2f1fb1_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f75cc34698eea2e0571280465b842a11f4a9dd76ae0d268724d3ad5b03636458
+size 4583471
diff --git a/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/827a15aa-1c3f-406d-aab3-9576d1877271_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/827a15aa-1c3f-406d-aab3-9576d1877271_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d1e203cfd8912a1def6dc2ef08f44cd91b80fbcd
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/827a15aa-1c3f-406d-aab3-9576d1877271_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35f46187bcb0e18652e243288153a28ae2786ce860b7a8cbda2266803d171368
+size 6579994
diff --git a/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ab6608c4-84ae-451a-b541-102c688e2db5_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ab6608c4-84ae-451a-b541-102c688e2db5_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee782c2d7d473ddd825cd966c07f7efe96273ffa
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ab6608c4-84ae-451a-b541-102c688e2db5_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b09999e800112ef1b678167a8934fbe3e17431c09045344401a80b9a0d5c666
+size 6060240
diff --git a/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/be956fe0-9b10-40f7-8c86-7482ccab0999_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/be956fe0-9b10-40f7-8c86-7482ccab0999_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e13d6af7e4be2d893cc072531431cae790cd5509
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/be956fe0-9b10-40f7-8c86-7482ccab0999_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9548db8d7b8ec73ab1b87d36b1e9a61ae86822e60eaf87002f3bd854e5e61c7
+size 4999428
diff --git a/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/d29b2e6f-8b6a-4c82-8fe3-5b2afc56b58e_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/d29b2e6f-8b6a-4c82-8fe3-5b2afc56b58e_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..607572b664c340aedadee3be5706bda9a32386f3
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/d29b2e6f-8b6a-4c82-8fe3-5b2afc56b58e_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:999fee6a8e64d30f6ffa199b0893e6ecb60202d812c5afc81773f43f100d0ded
+size 5993594
diff --git a/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/d7f3e34d-3a15-45a4-97ad-2f1ceeac547c_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/d7f3e34d-3a15-45a4-97ad-2f1ceeac547c_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ade7269d3652cfaf36100a39e5bce0f1b75c5b7b
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/d7f3e34d-3a15-45a4-97ad-2f1ceeac547c_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90c3da1b31bf59a4ca1ac8dbf66b17e2bdb1865430644622cb36fc4f278160f0
+size 4732140
diff --git a/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/df3ed4af-a1ce-4137-b6af-c6649dd1fcc7_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/df3ed4af-a1ce-4137-b6af-c6649dd1fcc7_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f6eeece73cd132c49a0031e9ed012175b8f68385
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/df3ed4af-a1ce-4137-b6af-c6649dd1fcc7_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04ad522a42416b815c05bb72b3c59e2316ddd623b398a92bce72cdd662f8a932
+size 6093577
diff --git a/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e209638c-5bf5-46cf-89fb-32f8a3b00b9e_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e209638c-5bf5-46cf-89fb-32f8a3b00b9e_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..adf868dd6827417e34b3dc40a070ed35059ce5a7
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e209638c-5bf5-46cf-89fb-32f8a3b00b9e_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc799ea144d8b7127f4ebca08685128160b1b7f2ff10364aa657c0952318e839
+size 6060526
diff --git a/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e9302640-c723-487a-ab46-2b45b80041d4_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e9302640-c723-487a-ab46-2b45b80041d4_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..413d7d8aef5954c84225ec200299c625522707bd
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e9302640-c723-487a-ab46-2b45b80041d4_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:641d0a66c5ead3d9104a79e27c2e475e9f4a1110f02764877449def45c567875
+size 3784769
diff --git a/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e95fe4a3-9167-4d99-abf6-e664ffa0821d_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e95fe4a3-9167-4d99-abf6-e664ffa0821d_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d43b3b806e912f3d04f53ea1996a752068ce641e
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e95fe4a3-9167-4d99-abf6-e664ffa0821d_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c94e4e21cb1b69c641b3b52939194f6b884bd95ec454020e0d2210aa43439453
+size 4774981
diff --git a/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ea44b926-c8b9-467f-a055-59af64d39177_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ea44b926-c8b9-467f-a055-59af64d39177_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a224d60946d586c41fe0de336238b448c69c8178
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ea44b926-c8b9-467f-a055-59af64d39177_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b04e0e6253b9458f53c6dd87b3b203c253f3fec48b9899b6a0e6480f7f2a6f1
+size 6206956
diff --git a/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ff3a96a0-928d-4b57-bded-51eae7901eb3_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ff3a96a0-928d-4b57-bded-51eae7901eb3_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8582ce7b1c95e90c79c07d37bf1f540d3798d6fc
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ff3a96a0-928d-4b57-bded-51eae7901eb3_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eda61db7585bcefb6f9936aefaed82aa5f4f0d3d96bc333c5c1c65e8ffd40048
+size 5434913
diff --git a/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/14ccd338-9ebf-437e-9665-7fdc52a26718_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/14ccd338-9ebf-437e-9665-7fdc52a26718_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dcf9fce3b2c5ba7c4fd4b2cf69a7f9a3fd298cdb
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/14ccd338-9ebf-437e-9665-7fdc52a26718_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccf9e934a564c98f0bffe5c6613216e815642e2e6f427d7781d6ae9cd2d8a15f
+size 4641772
diff --git a/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/16f51a32-d7a0-4ea3-9e55-41bf77fad18c_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/16f51a32-d7a0-4ea3-9e55-41bf77fad18c_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f48973102fdc6e9cc2a475c7eaa7439290284bde
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/16f51a32-d7a0-4ea3-9e55-41bf77fad18c_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff966d398606343470d15c7809a5047f837b4ca3c5bf3877a9585b0ab0fa237f
+size 5009196
diff --git a/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/241f8497-e077-4c57-97d4-6259f456773f_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/241f8497-e077-4c57-97d4-6259f456773f_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d397c3e02fb56b62d299d83548a45f0f6eae1a6
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/241f8497-e077-4c57-97d4-6259f456773f_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfb3affaed170b10d34f026f9ee0cfe61637f705272580c1d964d921f028b826
+size 3940735
diff --git a/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/292d72e6-f619-4822-8143-329905c5edfe_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/292d72e6-f619-4822-8143-329905c5edfe_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..580c9a4584d3147b1160ede681cb595bb26ada12
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/292d72e6-f619-4822-8143-329905c5edfe_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab9979ccec1413741f1746feb1c221232e7c56de1ebcd9cd3b3ab059ca22b543
+size 4419630
diff --git a/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/358cb349-8f22-42db-b434-043911e6f3b7_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/358cb349-8f22-42db-b434-043911e6f3b7_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..772c44b2a8beb73289cec7134eb3d288f28019a1
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/358cb349-8f22-42db-b434-043911e6f3b7_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68037e5c2a03cae43be8615bce5c84b3aba4bb98aee0159ee81ee71eaaa934fd
+size 4696719
diff --git a/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/45ae7b83-3d6e-48e8-9cc2-3740e25c9bca_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/45ae7b83-3d6e-48e8-9cc2-3740e25c9bca_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6aa873fb54553f155f82e6d2be149606bdf712aa
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/45ae7b83-3d6e-48e8-9cc2-3740e25c9bca_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebf16c644335a2b2620810cfed4870dfeda4130719f06f0cd5561ce67270a931
+size 5574636
diff --git a/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/65f7b53e-3df1-4066-8c95-5c4e47b661e0_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/65f7b53e-3df1-4066-8c95-5c4e47b661e0_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c075c2719b174d97bab54c0a44156cf814b9a524
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/65f7b53e-3df1-4066-8c95-5c4e47b661e0_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5289b9929ce2c228508a8661589ea3edbb95556f0e268ad29c7f83606dc73106
+size 3667333
diff --git a/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/68fce9a5-6e0d-4e31-beef-9cb2e7a575e2_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/68fce9a5-6e0d-4e31-beef-9cb2e7a575e2_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1b5909191ddbafbf4387caa54485aaac69209cc
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/68fce9a5-6e0d-4e31-beef-9cb2e7a575e2_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14d336e76fb9de2975252501a8d01ea794e7ea508beb413452242fe3ea7a722f
+size 6058915
diff --git a/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/77eb3c4b-7951-4ad2-ad3e-3ddffccce8a1_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/77eb3c4b-7951-4ad2-ad3e-3ddffccce8a1_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e8dc6ef428972a47361004006b20573d5151fb49
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/77eb3c4b-7951-4ad2-ad3e-3ddffccce8a1_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbf9346220dad079c469e4768fbcf4d075122e124fae2575cb2a372bf18d94b9
+size 5215178
diff --git a/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/90568e9d-1e21-4ea1-88cb-57afeaca0073_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/90568e9d-1e21-4ea1-88cb-57afeaca0073_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d81629406386fb5216b4560cee5c2677b84a61b8
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/90568e9d-1e21-4ea1-88cb-57afeaca0073_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7283123ca301451c1d2e5417e466fec830a98ec2451f618946a3e3b02ab6bbe
+size 7541689
diff --git a/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b9b77686-7717-409c-bf27-12eca31da0f2_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b9b77686-7717-409c-bf27-12eca31da0f2_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cdae42668557ea1eea9ff573c0a1451ae2a9b7b7
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b9b77686-7717-409c-bf27-12eca31da0f2_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c741083da16bde66887f71485f626e72e9995f7c0419f3a63b820a0df5dfc372
+size 7226698
diff --git a/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/ba20b508-908c-4a48-872d-b55bd2dbff16_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/ba20b508-908c-4a48-872d-b55bd2dbff16_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..512d2bdda079cdc3f8d8a872385a039bd4df7b00
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/ba20b508-908c-4a48-872d-b55bd2dbff16_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8a6c6bea6f35044c64f4fd2376c4a6b1fcde5e32765b6ddde39c4271b7d4255
+size 5994330
diff --git a/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c0f24a3f-4798-4e03-86a9-09091cbd9ab8_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c0f24a3f-4798-4e03-86a9-09091cbd9ab8_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..43d33c8a65e16cb4cf4307be339a788c87435e8e
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c0f24a3f-4798-4e03-86a9-09091cbd9ab8_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d047b3bf3c3575eb65c7d2e0a88fed2f6f967705c138f43b343363aa7bde2751
+size 6230575
diff --git a/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c19b08ec-8668-4f3a-b5bb-f764dbc5d7fe_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c19b08ec-8668-4f3a-b5bb-f764dbc5d7fe_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a9a14075a502b83b1467a3321d7e7f4df5aa7467
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c19b08ec-8668-4f3a-b5bb-f764dbc5d7fe_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f2b948a17c0e572bb6036af1d03827560a1e39a57fe6167b02b6f0fd8be3a28
+size 3613173
diff --git a/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c9beed2c-fbda-494f-812d-0ac6ce9d442c_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c9beed2c-fbda-494f-812d-0ac6ce9d442c_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a5609a697963af88eff6febc6c17a6faf7db9ef0
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c9beed2c-fbda-494f-812d-0ac6ce9d442c_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e3aa4c2c1315aa458c5dcc68f95cebd56f55a3e6473ed124cbf98e7f3a05fb4
+size 5351639
diff --git a/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/d42bc38e-0b85-42e5-85d5-ec1f7ef3a0b3_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/d42bc38e-0b85-42e5-85d5-ec1f7ef3a0b3_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1a9b6f9c939b576e7922b4b464612d0ca66ccbfe
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/d42bc38e-0b85-42e5-85d5-ec1f7ef3a0b3_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9006cb75eca7c3272274779b81197c7b72d58793c584a5b5fabef6c82377574f
+size 3613204
diff --git a/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/e61d9056-1a80-482f-a43e-00c55828834f_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/e61d9056-1a80-482f-a43e-00c55828834f_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c5af624385cb4235d46436cdf86e963229ba03a7
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/e61d9056-1a80-482f-a43e-00c55828834f_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b29844312e58657c067309e6626932070084359240950c0477ac1ef662acd9a
+size 5765994
diff --git a/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/eaefc91d-2da1-4a96-ab19-1008f87cb02c_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/eaefc91d-2da1-4a96-ab19-1008f87cb02c_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd3cf25e6bc0b397d8efb0b830f4f1fc6dc2f919
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/eaefc91d-2da1-4a96-ab19-1008f87cb02c_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fee65a6e1d17e483020b463fdc522a16a671eab9ea8e75ec087c716e9f532d7e
+size 5665582
diff --git a/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/ebfbd745-4b83-4b6e-953e-9ac85fd76be6_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/ebfbd745-4b83-4b6e-953e-9ac85fd76be6_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ced5cd33d72a93ba92db39e5817d380135c0a053
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/ebfbd745-4b83-4b6e-953e-9ac85fd76be6_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1d309b1292d40cdb3bbc6ef9f952467fa982972cc3ec019b41ce7b51d44af3c
+size 4186741
diff --git a/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/edc90cd1-5342-46ce-bfac-6b89497ceb4a_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/edc90cd1-5342-46ce-bfac-6b89497ceb4a_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4ba42cd6f9944d4ed0baed65da132e14ed3ee898
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/edc90cd1-5342-46ce-bfac-6b89497ceb4a_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2caa73a78aff904e19e0b08c3049285c027aa44d1e30bd5d1a8b3dee7433e9cc
+size 4658585
diff --git a/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/153061c9-bbf2-4b31-8958-938b87c6a93d_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/153061c9-bbf2-4b31-8958-938b87c6a93d_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a36617403b0303c899032c7d26f330476eaa159
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/153061c9-bbf2-4b31-8958-938b87c6a93d_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bd2922d5140f4a0746ac6c093b07e2da7cbdb545827027ebe21fba2eca7b707
+size 5644257
diff --git a/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1d7a2e0d-e50c-4196-a223-a4fb55ee5764_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1d7a2e0d-e50c-4196-a223-a4fb55ee5764_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8777775cbbb93abaf1cea5a948a1fb70656c3b0f
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1d7a2e0d-e50c-4196-a223-a4fb55ee5764_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aae45c1e747eb201163ba02bbe2edb0c68260e47a9f980a11f9f963345455942
+size 4604049
diff --git a/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/4550075c-9f67-4019-a84e-8d3a9ee5160f_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/4550075c-9f67-4019-a84e-8d3a9ee5160f_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd6e77a5f0343355e6fbba904a1d0767614cdc3f
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/4550075c-9f67-4019-a84e-8d3a9ee5160f_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c55c1c063702c0c1a99ab4ce6b40172205e1aeb930b0d31d6a162f1e588a7402
+size 6028652
diff --git a/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/64b92653-d403-47ae-8041-0fa91edec742_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/64b92653-d403-47ae-8041-0fa91edec742_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3d19f59055f2190afda0711bc0f96a78f953cd7
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/64b92653-d403-47ae-8041-0fa91edec742_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06286b2a9507c34659b12d04519206c4d4f3239793cc3aac1a4cfc0562b2a343
+size 6203989
diff --git a/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/730827c8-ffab-4553-876a-58f16341f1ac_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/730827c8-ffab-4553-876a-58f16341f1ac_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f3ba47a9ef77e7b03cd401c1f584469be321e413
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/730827c8-ffab-4553-876a-58f16341f1ac_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7f7f0afd6669e47b839c652131dd88834221f30b9f5a31dcf7a8b4ad62f44fd
+size 5854995
diff --git a/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/8f66ce9f-5355-4142-a273-24f2af1dd402_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/8f66ce9f-5355-4142-a273-24f2af1dd402_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9ccf6d7d6d9e16ee8105c17ccb8f8560f504a182
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/8f66ce9f-5355-4142-a273-24f2af1dd402_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6600329ad64163e953e62094974ac7b64200fcbc194737f5414eb0848f44a0f1
+size 5831111
diff --git a/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/a019fae6-3142-4533-9264-a34c0d3df307_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/a019fae6-3142-4533-9264-a34c0d3df307_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f77a713c1e0f463dc736e1c71f7793059151019a
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/a019fae6-3142-4533-9264-a34c0d3df307_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e4e67f113c218ddd6c4c85322ef3e443b17b1a638439c40b328fcc6f307ca89
+size 5908514
diff --git a/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/aa7984a3-d255-46b0-ab10-3d118c281903_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/aa7984a3-d255-46b0-ab10-3d118c281903_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e5d6ca7030bf2ae5159fffe2b93c6b48fab3320
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/aa7984a3-d255-46b0-ab10-3d118c281903_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3644353217c9d4961ad4444a0ab551257d1115a1924c6320e7a79045ca550da4
+size 6197098
diff --git a/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b02cc0b2-0c1d-42cd-a269-d3eb781e57a3_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b02cc0b2-0c1d-42cd-a269-d3eb781e57a3_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c712cf6809384077c5398dedd00b22a375380ac
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b02cc0b2-0c1d-42cd-a269-d3eb781e57a3_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35ade2bf544086fcb0aca192d0ecf1198a3a6153ce381645888b3862298932c5
+size 4818404
diff --git a/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b033775f-3a1f-4a63-bba6-fe7baf1a1a84_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b033775f-3a1f-4a63-bba6-fe7baf1a1a84_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da025945a97e0333651e8bc66d2bca339af3e587
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b033775f-3a1f-4a63-bba6-fe7baf1a1a84_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fc1f1b3c5f2d10f2fd868d380d2a2333544dfb8d58a6b3605f05c3e06652e75
+size 6177743
diff --git a/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b7029d73-b966-421f-8c63-2fe113e46011_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b7029d73-b966-421f-8c63-2fe113e46011_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ce5b77593f3ec08d996743f7cedc7ab026ef65c1
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b7029d73-b966-421f-8c63-2fe113e46011_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d185f4b7dac16c4175f362d8b8ec9190f5e38b1660edc843e8f6a3ad802ad3c8
+size 5140403
diff --git a/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b9cb5ac3-edb9-4374-a88b-acc846673117_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b9cb5ac3-edb9-4374-a88b-acc846673117_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b5032b1cf428ab45b1e8f31d81cdaca50af32d7c
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b9cb5ac3-edb9-4374-a88b-acc846673117_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa5523bc3cc7c670c0b3ef41081b1eb853234069fea284bb5c46fe71411308d7
+size 4012072
diff --git a/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c9f02996-0e6e-4949-a0d1-c1f3e2660821_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c9f02996-0e6e-4949-a0d1-c1f3e2660821_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d3cf62cc936e5b936a4089e2a834a6489e53945
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c9f02996-0e6e-4949-a0d1-c1f3e2660821_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6ec89accd69192641014e77f6f0c42d726e16adc2da8f40901bd04173564c83
+size 5619161
diff --git a/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/ddb8a171-92d4-468a-8edd-5d26720b61f4_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/ddb8a171-92d4-468a-8edd-5d26720b61f4_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d7d1eb3f243668657e72c6b21a27f82a96f40f24
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/ddb8a171-92d4-468a-8edd-5d26720b61f4_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c88868457ad5a031e377820eb89facf1d1936448d751abaa1658bd20af13ccde
+size 5486345
diff --git a/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/e81eceac-cc4e-4c7e-97aa-61e86b25b063_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/e81eceac-cc4e-4c7e-97aa-61e86b25b063_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5079fb50c6d52e83375f6601024bb0a4df7cea97
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/e81eceac-cc4e-4c7e-97aa-61e86b25b063_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2e30f6595670cd6a27740218d45a7da181390a4695187cb6f9098037cfdbe36
+size 5637692
diff --git a/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/ef07b12d-a748-461b-9fb8-00fb5e3ea170_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/ef07b12d-a748-461b-9fb8-00fb5e3ea170_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf4767658fcb6e6956440e935ad1cd588063897e
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/ef07b12d-a748-461b-9fb8-00fb5e3ea170_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4053f54953c45ad29c7c6edf86bd64d1f1cb43521d61c74da6bb4c85f4212362
+size 4901786
diff --git a/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/f047c5cf-81cd-4380-a1cb-7479ecc0bc57_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/f047c5cf-81cd-4380-a1cb-7479ecc0bc57_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4939d7f38ff48e5b986ab7ece1f7e858cd4b96f7
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/f047c5cf-81cd-4380-a1cb-7479ecc0bc57_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f867a0c7a5b723dfa1f1809d3cf91613262737b6811fdb1692536813d90f8a8
+size 7122327
diff --git a/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/f2a50a56-e0c1-4e8a-9db2-eb504a8bd4e2_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/f2a50a56-e0c1-4e8a-9db2-eb504a8bd4e2_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92684ab774769f0d9e4fdf54b4297d404796ff4f
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/f2a50a56-e0c1-4e8a-9db2-eb504a8bd4e2_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59524037ffd8ac2f6d9797c313ee0764ace1fa92aa78f1f2a511fb32dbf0e661
+size 6515203
diff --git a/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/f38ff216-0e0d-41e3-ba98-96dc5a362d12_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/f38ff216-0e0d-41e3-ba98-96dc5a362d12_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..36e4c4b42045d2b3f3c18c1e49cf2d1dc36ec149
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/f38ff216-0e0d-41e3-ba98-96dc5a362d12_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb4c33035b1979d4d23efbe36fe977f24321d76d49674d9bef75e893bf275479
+size 4563700
diff --git a/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/f95eb6c5-9e90-417b-8bd4-ba94394ed4bd_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/f95eb6c5-9e90-417b-8bd4-ba94394ed4bd_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..85a8e4d234cb8528c68d8594185d3b1febfc0534
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/f95eb6c5-9e90-417b-8bd4-ba94394ed4bd_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2f597e7199ba6ac921d1367a89b7fed290d2f788df23048c3ba2fe7429b288b
+size 3872475
diff --git a/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/117b59de-613b-4c4a-b43a-93718a1cdb45_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/117b59de-613b-4c4a-b43a-93718a1cdb45_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d0d64d05666d65f95592f56143e247dcc11b8759
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/117b59de-613b-4c4a-b43a-93718a1cdb45_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69ab2876c5fd2f7ae233288b077d1fc57213c8d46b0cda9cd12f82f7396d8ede
+size 3053564
diff --git a/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/22414f0f-b295-465a-8667-59d993fd7e76_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/22414f0f-b295-465a-8667-59d993fd7e76_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..913c90cac41ebf0299227b6f931775a15c3a33ea
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/22414f0f-b295-465a-8667-59d993fd7e76_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd32870b7c3555bb723f98e774acf9b4c591c7a68174112e357c6eea107a00b7
+size 2459904
diff --git a/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/270cfa61-8833-4692-b351-758c87c66bbf_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/270cfa61-8833-4692-b351-758c87c66bbf_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..578f16925d0bc51a7669a1c20a87c4299b4fc52e
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/270cfa61-8833-4692-b351-758c87c66bbf_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c2330c5d73639f2e7efaba8ea2f5791c54ed19947bb2a90c1a91b0166ccfed8
+size 3404942
diff --git a/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/27622b3f-2dce-4201-894e-97d3b0aa9695_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/27622b3f-2dce-4201-894e-97d3b0aa9695_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..36b7c98f35afd7795dcab7c4c20e3d195fda5774
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/27622b3f-2dce-4201-894e-97d3b0aa9695_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:895f982136efa77c6aee156e9f0162ae6fd0257443f81a9f925d0b09f6040d65
+size 4273538
diff --git a/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/28bbb618-c65d-48ce-9ad1-1f255842789e_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/28bbb618-c65d-48ce-9ad1-1f255842789e_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b6c81c773d76a5e9101d2005e44b8ab204dd75db
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/28bbb618-c65d-48ce-9ad1-1f255842789e_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c046de45b2300fe235e547b2462a555a254002506212e9e3666a362217a91a56
+size 2028900
diff --git a/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3fd147a7-be13-499c-b350-31eb00e03117_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3fd147a7-be13-499c-b350-31eb00e03117_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc8ccd506dc76d4d5ce79cde56d5f09ec4a0c44b
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3fd147a7-be13-499c-b350-31eb00e03117_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:369dbfd05b6a467c628e43f5fd1ced54e6d0026d358b8f425edba58a7e2858c5
+size 3668163
diff --git a/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/68d92014-6afe-4f8d-a2a6-812b8dfda905_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/68d92014-6afe-4f8d-a2a6-812b8dfda905_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b44696ff048682c841a2fa7508ae4a58d20368d3
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/68d92014-6afe-4f8d-a2a6-812b8dfda905_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c98d390782693fbc8accb2685fb7c3ca804e908ea3836be91301c99b8683dae5
+size 2860726
diff --git a/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/8c3963bc-88ab-4a28-90ba-b4af6c35b08e_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/8c3963bc-88ab-4a28-90ba-b4af6c35b08e_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c259058776a7d54b0da008b78b82f929bd69a39b
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/8c3963bc-88ab-4a28-90ba-b4af6c35b08e_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:011da3922bcc1ec49ba60dade355b22560082884a71e39fcdacf72e0a744116a
+size 2384122
diff --git a/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/9afcfa6d-c111-4e6d-a2ee-79c023963728_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/9afcfa6d-c111-4e6d-a2ee-79c023963728_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f893eab653179222c305542b53930e55e008a25
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/9afcfa6d-c111-4e6d-a2ee-79c023963728_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:151ca3aeda6000f4c36500a6144cbd0d130b289c02c9e9a29098d7c783e12370
+size 2997185
diff --git a/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/a81987da-80ee-4691-a417-8254bccb23ed_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/a81987da-80ee-4691-a417-8254bccb23ed_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e9324865c2a476381a9dab2130c4db13881b6452
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/a81987da-80ee-4691-a417-8254bccb23ed_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd33c88c03f0870bd8f5396101f46455c6d84814fadd7761811094bdf718743d
+size 3052704
diff --git a/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/b23b82e7-806c-49ae-8a88-1d541f5aed35_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/b23b82e7-806c-49ae-8a88-1d541f5aed35_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b8ca599e4b693a1ccbea6ddcabec632d5ea8e01d
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/b23b82e7-806c-49ae-8a88-1d541f5aed35_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4308362e5556d2da2dfca256394fe2977a2c65282293811836ca0e2f060fd3f
+size 5458861
diff --git a/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/bd31036f-9fb3-45c4-b9e7-e79e459fa29d_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/bd31036f-9fb3-45c4-b9e7-e79e459fa29d_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0549ee51b03de13a1c8e009d3ca9e8cc20b2c7e9
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/bd31036f-9fb3-45c4-b9e7-e79e459fa29d_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2718f0e618c9caa6a8e472d0fc9741b8a865bd4844c8a3ce3f2f44599db0f660
+size 2863153
diff --git a/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c3f6282d-fbde-4f9a-a50f-4c9716407e5f_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c3f6282d-fbde-4f9a-a50f-4c9716407e5f_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dea3459f555991c06972af359e3930f297bb2e1b
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c3f6282d-fbde-4f9a-a50f-4c9716407e5f_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a10fef0ddd747c1ba7335e5e17f4096ca43f7a4c11147f1cc14cfbb5a901aed
+size 2774053
diff --git a/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c49845af-14ee-4168-b650-84aefdea7cf2_success1.mp4 b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c49845af-14ee-4168-b650-84aefdea7cf2_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3fb432cb8cc15ed8f0030c7a185fb2b7e009cf17
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c49845af-14ee-4168-b650-84aefdea7cf2_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a96660372acf54569350b725289b021e5c9d2136d8a8c11e1d505f7413c9249
+size 3341914
diff --git a/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c62a9739-d975-4e3a-bdad-03c0375ce881_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c62a9739-d975-4e3a-bdad-03c0375ce881_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..58768084023b543403c100a0e7e43b3c967be37f
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c62a9739-d975-4e3a-bdad-03c0375ce881_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dedefc0cdc5b35de03127684c28661b351fb3b9f0869d0d6bc20b92d1c46ad4e
+size 3322342
diff --git a/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e1d1f2eb-47a9-4d38-a3c5-ad553b86ce89_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e1d1f2eb-47a9-4d38-a3c5-ad553b86ce89_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..15d57df2ba8e17324ed79f01817d76304cc90297
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e1d1f2eb-47a9-4d38-a3c5-ad553b86ce89_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6634092d922c67465e1343bfb39e78fc408e50311c2f365f1f05b6845b8df18f
+size 3286426
diff --git a/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e84c5e49-7da0-4a1c-802c-2148485a2250_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e84c5e49-7da0-4a1c-802c-2148485a2250_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a2af409325f48ea94da84c2710674bddd79d98d
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e84c5e49-7da0-4a1c-802c-2148485a2250_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d0376c1d48e161f7fdb30090dfbe1c423548b3501bcc12a7cc7cda7588d7c8b
+size 4963371
diff --git a/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/f253e262-be5f-49c1-aeb0-4aa5b3cbaf83_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/f253e262-be5f-49c1-aeb0-4aa5b3cbaf83_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5bb9b711347884a2cbbe01ecd08d89f1efcb77ad
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/f253e262-be5f-49c1-aeb0-4aa5b3cbaf83_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fb86b732601dfe432876ae348fff499a9fc0baa7a40ca85b380ee5563ab1afb
+size 4897945
diff --git a/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/f4677fdb-b491-4afa-af45-b3bb1493e199_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/f4677fdb-b491-4afa-af45-b3bb1493e199_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cbc64c215ebcb469f3c5792221c53982a0b72a78
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/f4677fdb-b491-4afa-af45-b3bb1493e199_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6f74c58c102e97356462ecdff5e6e47742bba8f226aa9a75b092a62708d54c4
+size 4484151
diff --git a/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/fcfdec27-ba8c-466f-bcdd-1778a4a121ca_success0.mp4 b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/fcfdec27-ba8c-466f-bcdd-1778a4a121ca_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7283f1ea82520e9f71467e7eb01a534c3d8c2b07
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/fcfdec27-ba8c-466f-bcdd-1778a4a121ca_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8636314a515729832c6428fab4cb949dede184bac1034ff706f2ca128b89ab67
+size 2921498
diff --git a/v2/__eval_r1/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt b/v2/__eval_r1/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..01bb5440db810b8677d4c7a72231b9338c4beec4
--- /dev/null
+++ b/v2/__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] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 194.06 seconds
+Results for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.15
diff --git a/v2/__eval_r1/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt b/v2/__eval_r1/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..24ad08d08a2bbf5e0a7e8591cbae961a706918a6
--- /dev/null
+++ b/v2/__eval_r1/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] 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)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 189.81 seconds
+Results for gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.35
diff --git a/v2/__eval_r1/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt b/v2/__eval_r1/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..46b39a978f5bef6aa7264d26cfd8282d961d92b9
--- /dev/null
+++ b/v2/__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] 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)
+/mnt/data/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.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 191.79 seconds
+Results for gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.30
diff --git a/v2/__eval_r1/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt b/v2/__eval_r1/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f9e50995fede832cfe0a534c964fdf6edd869aef
--- /dev/null
+++ b/v2/__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] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/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 206.92 seconds
+Results for gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.25
diff --git a/v2/__eval_r1/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt b/v2/__eval_r1/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6f8019ceda50916093a62859815cf3df5a7df4a3
--- /dev/null
+++ b/v2/__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] 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)
+/mnt/data/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 199.37 seconds
+Results for gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.15
diff --git a/v2/__eval_r1/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt b/v2/__eval_r1/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0519dfd8ebc4e257ec32c263fe1e10f1246db78d
--- /dev/null
+++ b/v2/__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] 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)
+/mnt/data/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 192.15 seconds
+Results for gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.25
diff --git a/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/15173f3d-a36d-4d1a-80a3-8dc604c93d0f_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/15173f3d-a36d-4d1a-80a3-8dc604c93d0f_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..96e0276bee8ba8b773b20f25f61fa6f775ea03fe
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/15173f3d-a36d-4d1a-80a3-8dc604c93d0f_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8a7c3c5a70b2b11c63ac9897bc6331c8c2838a0eabdf7c9ab358f102322ec47
+size 5145200
diff --git a/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/22d17224-35f8-413d-bf0d-86614df4a01c_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/22d17224-35f8-413d-bf0d-86614df4a01c_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d0e517ecb32d986366497566224914c203016d85
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/22d17224-35f8-413d-bf0d-86614df4a01c_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:034334533c5e397cfae02c91c8fccbcebefdd0111a46ae7e3edeb0ad37618cc5
+size 5266036
diff --git a/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/28b8a7e7-187c-4c8a-a8f0-2cb4eb390e07_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/28b8a7e7-187c-4c8a-a8f0-2cb4eb390e07_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f50e4c4f4070c241c417ddd0011c604e2db8637
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/28b8a7e7-187c-4c8a-a8f0-2cb4eb390e07_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:295845db6ed47bed51d7127e9ec9da7b7048e2540a0915c72ced684c6bd47d7f
+size 4021876
diff --git a/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/329116d3-aadd-484c-8892-47dbe228a984_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/329116d3-aadd-484c-8892-47dbe228a984_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2d6c259b113d93805fc9487594d6e00d99d4b37
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/329116d3-aadd-484c-8892-47dbe228a984_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93dbc32778013b958f31b45cd6dd893391113617be151053011f3738bdc9be55
+size 5115609
diff --git a/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/4603c3ad-7a95-402c-ac31-cc247f12cc7a_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/4603c3ad-7a95-402c-ac31-cc247f12cc7a_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..26158e000e08f128ce49421b47673e813a36dca4
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/4603c3ad-7a95-402c-ac31-cc247f12cc7a_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aff04e60330810dd0af61fab27f8f06f98cc8656fb85f4486cb5c67672d09eb8
+size 2805426
diff --git a/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/51ea4f67-6b2a-431b-9f7c-dbd665982de8_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/51ea4f67-6b2a-431b-9f7c-dbd665982de8_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..195ede4fc085fcf82a79f2b4774662bd68af7711
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/51ea4f67-6b2a-431b-9f7c-dbd665982de8_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90eab9cb626bdc5454733a2bfb13c1bbb1f44303217b98908b1b25f6a6aac6ab
+size 5415273
diff --git a/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/5603e15b-7009-4264-81d3-67aeda718c91_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/5603e15b-7009-4264-81d3-67aeda718c91_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..28ffb6a3114439c1b667a7a564502562a9514f8c
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/5603e15b-7009-4264-81d3-67aeda718c91_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d61fabc8fc252b32b56067916da553e0c6bc2de4f50ccafcc076afbfe034b9e5
+size 3589968
diff --git a/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/5dfd6dd9-d17b-4f35-aef2-ec78cee23914_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/5dfd6dd9-d17b-4f35-aef2-ec78cee23914_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20cde2551cad0c312ea11f55cf49d254ee4c720f
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/5dfd6dd9-d17b-4f35-aef2-ec78cee23914_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a719f07c261d57dfeef2bac4368b32481e7c54e51666ae0a39467579c5d6c715
+size 3225612
diff --git a/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/6e6038bb-29d0-4eec-8b2b-8b72d8220695_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/6e6038bb-29d0-4eec-8b2b-8b72d8220695_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..38733fbf0f01eccc6fe634ff1e36044a585f5ae6
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/6e6038bb-29d0-4eec-8b2b-8b72d8220695_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c53ee430d02c125feb4cc7256307288b0288e0482af3cad409e97c727f83860
+size 3417734
diff --git a/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/74a0d3c8-bb96-47e6-b887-f3c763a3a0dc_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/74a0d3c8-bb96-47e6-b887-f3c763a3a0dc_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..988c6751cf19b192ab3e93885d9e485847c30a5c
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/74a0d3c8-bb96-47e6-b887-f3c763a3a0dc_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4133707a8b939b26b1b4d26c84f4ac5d5de45e565f871b8d7482f9d45707ba22
+size 3785931
diff --git a/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/7f22292b-8e2c-40f8-89f0-5533764eaacd_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/7f22292b-8e2c-40f8-89f0-5533764eaacd_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e38848226ad702871cb9ecc5dd09aa5ee6617670
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/7f22292b-8e2c-40f8-89f0-5533764eaacd_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3b1473cd5a23e0fc02ff55d80bbc7915357d83fc61c24d764d9153e8c749902
+size 3134016
diff --git a/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/854425e5-3f78-4917-ba50-02916a9ac56c_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/854425e5-3f78-4917-ba50-02916a9ac56c_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..44b8f193dc5f82089ea3afb0e34a9329a4a5a589
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/854425e5-3f78-4917-ba50-02916a9ac56c_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0056f40a52611a6a8a3a50c82735065dc55cdf9585326dd28537ee909083687c
+size 3761817
diff --git a/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/929d48e2-65e3-493e-87ba-7fdb7ed8ac36_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/929d48e2-65e3-493e-87ba-7fdb7ed8ac36_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f7b7ca7e69d3cf46fc674bdf3b088977786f2bd
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/929d48e2-65e3-493e-87ba-7fdb7ed8ac36_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92a1572f295f4cafcd1d70e6f40580b49533c65ad974e79aa47b02e7fb9ce20f
+size 2789399
diff --git a/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/aea18ef5-ec0a-4ef4-9cd3-6bfbd2588086_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/aea18ef5-ec0a-4ef4-9cd3-6bfbd2588086_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cfa2379b69c84fc4b8b1eba68b65e51b8c69b7ea
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/aea18ef5-ec0a-4ef4-9cd3-6bfbd2588086_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dcb830dede78c134530623da84e577bdd54f34a1579dbed0385bf8ee2fc2f28
+size 4086207
diff --git a/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c99ea38a-9add-4072-a989-c58fecbb7719_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c99ea38a-9add-4072-a989-c58fecbb7719_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..076c3adaeb8c818a2ff785c782aa8f09eb28efe2
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c99ea38a-9add-4072-a989-c58fecbb7719_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe61d489d4a382f52a95f3fa8bd53d18fedccac72427f2acf24e3de7abd1c290
+size 3176165
diff --git a/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/d2ea78d8-933e-4788-a98a-9e40f23826ec_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/d2ea78d8-933e-4788-a98a-9e40f23826ec_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..738dcaca92d40280491be044a8ed5a6de62630ec
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/d2ea78d8-933e-4788-a98a-9e40f23826ec_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f497185005fa8c1f44329a1a8e64ff753f667faab54b628c980d531f1c2aaa7
+size 4716936
diff --git a/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/d2f198b7-8484-43b0-aa04-8da711cfa716_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/d2f198b7-8484-43b0-aa04-8da711cfa716_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4329466f75d695d3876b1fa9c35aa394b72a71b7
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/d2f198b7-8484-43b0-aa04-8da711cfa716_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7e2efdd3921ec82d11f63c61b5d31eec6ddc8a4a3e5c9d3da1912711e87de5e
+size 5158724
diff --git a/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e2cede2c-1bb0-40b7-ab7e-7015213fe905_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e2cede2c-1bb0-40b7-ab7e-7015213fe905_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3992f9f9c8b8fd90ad52306cb97d16e0bf7cdf6e
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e2cede2c-1bb0-40b7-ab7e-7015213fe905_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5862f0aa2d731e1c05e26b0be82ee339405e8e5398864f7a4cd6c224e97a95cc
+size 4168685
diff --git a/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/f5fad7a7-1ef6-4eb2-898f-ee6f7d6a5336_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/f5fad7a7-1ef6-4eb2-898f-ee6f7d6a5336_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a011906f3e48d296726c99c1628d3935c744f917
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/f5fad7a7-1ef6-4eb2-898f-ee6f7d6a5336_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11ac1a6ef97f035c963aa63dfeadef0b78c69e89f64402833d1a19cec2026307
+size 4866806
diff --git a/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/f8ee3d84-f597-40b2-af4d-9a4d19eba606_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/f8ee3d84-f597-40b2-af4d-9a4d19eba606_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c18ee544f63cde2d85fa9870d6be2c6992ba7be1
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/f8ee3d84-f597-40b2-af4d-9a4d19eba606_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a383d08fb51b40b2362d8ac879e8b51d2f19f63bc27e73f84e3d12253d94eb31
+size 3912235
diff --git a/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/06197f8d-5e2e-4b88-882f-9ca292e985cd_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/06197f8d-5e2e-4b88-882f-9ca292e985cd_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d70a904711274d1c31c490a032ea229b8f1d6a6
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/06197f8d-5e2e-4b88-882f-9ca292e985cd_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af704671095b88852b78f597524a5577cf104d5260d5d9ad9cc904b8cd96306e
+size 4125203
diff --git a/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/0d614339-f905-4986-9028-acee561a3265_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/0d614339-f905-4986-9028-acee561a3265_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f02bddb2a0783affa8abe033b9ef71647a569955
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/0d614339-f905-4986-9028-acee561a3265_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd7491a431e582cf566c3b25a02c4704e868ab128d8ac4248a5711bd3257af9b
+size 4567540
diff --git a/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/196aadb5-86c1-4b54-afd3-0c396a51567d_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/196aadb5-86c1-4b54-afd3-0c396a51567d_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5e51aec4d16ebb5fbfa7db730c5325af9c71afe5
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/196aadb5-86c1-4b54-afd3-0c396a51567d_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af5cd2ca5c5994ed66ba0d3f71335c6ed247b201ffc93a1046eed6b57538e211
+size 4037877
diff --git a/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/2b5c3124-2788-4e05-b4f7-3c6599e32423_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/2b5c3124-2788-4e05-b4f7-3c6599e32423_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..643850abecf2c884cf86a2d6ccce6626eab24b95
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/2b5c3124-2788-4e05-b4f7-3c6599e32423_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12cca5f2bdf16099efae7a166f8eea884cb470052d634147051a1c817ebe2e36
+size 4863168
diff --git a/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/3f62e03f-4923-4c5b-b000-f7a136eb9b56_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/3f62e03f-4923-4c5b-b000-f7a136eb9b56_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65dd116ef14667155fa5eb4ab4a60d5e6facb8a2
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/3f62e03f-4923-4c5b-b000-f7a136eb9b56_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a2296b7acd4d3089f053f2892c93a40b9b49137f2cd139d916522dbef14b75d
+size 6313905
diff --git a/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/51da54ec-770c-495e-b7de-e58b7e2d7ebf_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/51da54ec-770c-495e-b7de-e58b7e2d7ebf_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d34d0043cb3bde22d383557d7cd4e4d7531eab9
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/51da54ec-770c-495e-b7de-e58b7e2d7ebf_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd003c80203f44d6e39181403932189ba96bed30dfd7a1c79ddeda71d0574ff7
+size 5481219
diff --git a/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/5a1cd36f-3b9d-4144-bf36-8b683d45c7d1_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/5a1cd36f-3b9d-4144-bf36-8b683d45c7d1_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ef72235871900dcae671c71ec24a616797a6d58f
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/5a1cd36f-3b9d-4144-bf36-8b683d45c7d1_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fc3fe187da1605ff0f2c58a0645e3c43d989c92150efacc360635d5d9ae7e29
+size 5936650
diff --git a/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/61bafd96-50a4-4682-8db0-c1bdec1dec36_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/61bafd96-50a4-4682-8db0-c1bdec1dec36_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5dede476079f905bbd022cada7cf9792efd05d2f
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/61bafd96-50a4-4682-8db0-c1bdec1dec36_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:392b703afc6bc1f9a312f97b49864aa6cc409ad73acd64598082ce6e1b9df6bb
+size 4471654
diff --git a/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/7924df2a-c1ec-4c45-a9a3-baa1c60cad77_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/7924df2a-c1ec-4c45-a9a3-baa1c60cad77_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bb9c148dcc31c1f83f339464e123041072aa60b3
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/7924df2a-c1ec-4c45-a9a3-baa1c60cad77_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e30e6fff432d7903dc8cfdff7f76e4d274d53403be422e4dda991f6a0b00bd5
+size 3725572
diff --git a/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/8f20d0fb-7a8c-439d-b21a-9b9d0880c761_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/8f20d0fb-7a8c-439d-b21a-9b9d0880c761_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e9134377107b2b30a4cdbd15d4e5c91ec57cfbac
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/8f20d0fb-7a8c-439d-b21a-9b9d0880c761_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1171daac51f7a8b9230b27c9da1724839fc0f5738ed60a1b26bb0b02f980799
+size 6073972
diff --git a/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/99bdb0fd-d5e0-419a-8df3-eace5184344d_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/99bdb0fd-d5e0-419a-8df3-eace5184344d_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65eb0b506db4024d65186e630b305fc83df339c5
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/99bdb0fd-d5e0-419a-8df3-eace5184344d_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48afdcc8a6b7396f8b17faa53ffa6e74f9a2faeabb9bcaa65c257839a721123b
+size 4781639
diff --git a/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/b7c37125-2da5-4fe9-84f2-54f6bb0c0a2d_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/b7c37125-2da5-4fe9-84f2-54f6bb0c0a2d_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4fb78291b4c1b769a3ed0857adfc035090807d67
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/b7c37125-2da5-4fe9-84f2-54f6bb0c0a2d_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c90824235830358d458d76f3d73e95a05e195811fdb1a80f1a437558b51c5ef3
+size 5555720
diff --git a/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/b8232de3-9093-4378-b1bf-edf76bbe6b9d_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/b8232de3-9093-4378-b1bf-edf76bbe6b9d_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..73a5c181aa3d7af6bb8a0bd539fb2b6ccc1dc6ae
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/b8232de3-9093-4378-b1bf-edf76bbe6b9d_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bc68661e2c3ae15a068638513dc99fa78fdf8beba2c7cfc3fdd70aa298345c4
+size 5710868
diff --git a/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/bbef0b72-517d-4d15-ac48-fe7b9ab45bad_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/bbef0b72-517d-4d15-ac48-fe7b9ab45bad_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b5ab6c9c001df99960cb2ecfa56a79c36f791b2
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/bbef0b72-517d-4d15-ac48-fe7b9ab45bad_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff897c261f2b83b3e40526c6bb0846db15933d4628f135711be2ba879124329b
+size 3783824
diff --git a/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c87e2a12-6413-4939-a457-8239efea8ae4_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c87e2a12-6413-4939-a457-8239efea8ae4_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a0337612539979fa74c1ac94dab66c81120a6be
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c87e2a12-6413-4939-a457-8239efea8ae4_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61e5baa3e0611f224354a4e3c886bc6041e698115b45cf07a32992a43846911c
+size 6249703
diff --git a/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c941e8e1-47df-463e-9cb6-1e3e0de28487_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c941e8e1-47df-463e-9cb6-1e3e0de28487_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..240aa66cc928a4c8f1906786e4fc6dda50668fe8
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c941e8e1-47df-463e-9cb6-1e3e0de28487_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d450457254dc4f6468f76cadcc328a724723058933fe00f4416ab4d395e0d0f
+size 6435671
diff --git a/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/d70b910e-ab27-4a26-883c-cbd2f94e4af7_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/d70b910e-ab27-4a26-883c-cbd2f94e4af7_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..87024331f7982ec6a82ee2a0fc44421d0ed9919c
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/d70b910e-ab27-4a26-883c-cbd2f94e4af7_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69b3f584c6ff8fe110c2175d88119e343436ab286ae8bf9d4a4a4612a0592d66
+size 4201656
diff --git a/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/df4822e7-cd33-4b52-8fc0-eb23f1aa1264_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/df4822e7-cd33-4b52-8fc0-eb23f1aa1264_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..64aecebd2a255c770c6365d7016e9441c306fdd6
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/df4822e7-cd33-4b52-8fc0-eb23f1aa1264_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bb914414e6d7d5a739fad08692ebb9aa1c6f41ac32f17605a378a2337bbd24f
+size 6139840
diff --git a/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e1dbe8f4-79a3-432f-91ff-005035be6584_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e1dbe8f4-79a3-432f-91ff-005035be6584_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b0cb0841953e37eabc59291ba775b8d2da567dd
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e1dbe8f4-79a3-432f-91ff-005035be6584_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65615f97bbb4f2a9d74da83015a7cdcf3986fe846d7721e410134a4653b53cdb
+size 4090967
diff --git a/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/edebe484-1e03-4367-aa36-511ed323abc9_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/edebe484-1e03-4367-aa36-511ed323abc9_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..18046082bcb14904a0c8f4f34b0cd6cfd916d4ba
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/edebe484-1e03-4367-aa36-511ed323abc9_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd11ad365bdae2570c36e2e92651fca60186e70f8e4756f48a038f869441c711
+size 7075149
diff --git a/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/024733f4-b314-44e3-b3d0-6dcf872ef680_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/024733f4-b314-44e3-b3d0-6dcf872ef680_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d55f63a35796c9f7d0b3d84be4ccd0d739937213
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/024733f4-b314-44e3-b3d0-6dcf872ef680_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:091452c3dddacc9a61455bd3fd83196087e5413227a0c3d1a6af564c0d0d14b6
+size 4447381
diff --git a/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/0316fb4b-eb6d-4003-851e-5bebd81603bd_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/0316fb4b-eb6d-4003-851e-5bebd81603bd_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5ee0954e3456531a8f29a2fa1a932570ea8513f4
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/0316fb4b-eb6d-4003-851e-5bebd81603bd_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a88a76ebdff1359643d19cc62b03eecb1cb1bf223af7f5221c18a65429ccb470
+size 6150630
diff --git a/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/0de954cf-476b-4ad3-8330-801cba3a6247_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/0de954cf-476b-4ad3-8330-801cba3a6247_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b4e8e98a581bcdc8aa5ff03ed9f9f195f38503b
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/0de954cf-476b-4ad3-8330-801cba3a6247_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:917f6c33ae09bf69824c842f46318c1aaa8fd580498cb37cee63f0ca1211cbdc
+size 5879650
diff --git a/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/16c31b39-7045-4eed-b367-bbd1a51dbc36_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/16c31b39-7045-4eed-b367-bbd1a51dbc36_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f3e10b13ce8faead89fad389bad27ee063892e3
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/16c31b39-7045-4eed-b367-bbd1a51dbc36_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1587f349c63d865e9128c027b47fad8c25a6db8cf7f9cd1bba7baedb322994eb
+size 6298978
diff --git a/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/32114a00-8657-49e8-903c-6009bc8bd15d_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/32114a00-8657-49e8-903c-6009bc8bd15d_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..48a7245c70d9960053947752708acf09c267e4b7
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/32114a00-8657-49e8-903c-6009bc8bd15d_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb16df04cf2c50c538dbf2bfcc9e0b7126587a110dfd1201d4976b5a30eba678
+size 3749181
diff --git a/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/3dc5bccc-5bb0-489b-ae22-6645554d8057_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/3dc5bccc-5bb0-489b-ae22-6645554d8057_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..31dae874315d2a5b7d9ab70e678fb65fe3e52094
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/3dc5bccc-5bb0-489b-ae22-6645554d8057_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aff8254d35bb171d42e667e7e4c1acc6c278f8a72f815d3e3a82a53faf4c72b0
+size 4885058
diff --git a/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/4073b197-2d1d-40b9-8e87-b300d4cba3cb_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/4073b197-2d1d-40b9-8e87-b300d4cba3cb_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..358801f18b9e2cb085db485adee388d6de94a4e4
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/4073b197-2d1d-40b9-8e87-b300d4cba3cb_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1158b90b2116534647a093999b0333eb6923fbc33c3a1ddcb8075c2634fc7c7c
+size 4573778
diff --git a/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/45ecb628-2dd7-41db-ab92-3af63ccf7f28_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/45ecb628-2dd7-41db-ab92-3af63ccf7f28_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ebe458cad536d1657e1cc4f79096b98738562ef
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/45ecb628-2dd7-41db-ab92-3af63ccf7f28_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecdd1d256f66340e44c561be3532ba01de8ea5432363584aa2bbcf43feffe771
+size 4049971
diff --git a/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/4c7d125a-3ee2-4620-aea3-fbdfafeab5fe_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/4c7d125a-3ee2-4620-aea3-fbdfafeab5fe_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc012c7ac26b3da59b3104b4676182f14ccac422
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/4c7d125a-3ee2-4620-aea3-fbdfafeab5fe_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:213810aacf9f63b44a87051b57f714816093970f68dbc2905c3976020c67440e
+size 6633021
diff --git a/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/5f65af05-e019-472c-88a3-0776c3d87934_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/5f65af05-e019-472c-88a3-0776c3d87934_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c18f933b4491d2118bc06936844498d7d2f4dac4
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/5f65af05-e019-472c-88a3-0776c3d87934_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca45646d6c062db79dfcfbdcfc227854688f41a2e0fafb3884fa7c2e70dbcefa
+size 5086364
diff --git a/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/662fadb4-941d-42be-a682-bba588b4d814_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/662fadb4-941d-42be-a682-bba588b4d814_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e3ff1760e2ea1342ba9025b1ee2906640eb5df8
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/662fadb4-941d-42be-a682-bba588b4d814_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf6c876e1825f0f97e29ce0c3c65fe5771e6f2a135260be8691f02ce46e5c31c
+size 5108815
diff --git a/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/6f6b48c4-669c-4b25-af04-ab37aab05255_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/6f6b48c4-669c-4b25-af04-ab37aab05255_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c5c65d37a9a05b766cd964ebd37c4599a901f48b
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/6f6b48c4-669c-4b25-af04-ab37aab05255_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:544fb1617c6be348b8aab6a12eb4085240fc2fcc2c75b72546f55af1149f980b
+size 5431598
diff --git a/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/a6b5c0fb-eec5-4676-97d4-9683c693c158_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/a6b5c0fb-eec5-4676-97d4-9683c693c158_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4af15521e0e0d969fa83bbe827474d5ac388593c
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/a6b5c0fb-eec5-4676-97d4-9683c693c158_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3eaba5eb2ca3bca90d7bdff8ec8edcb874bac6b28cec964b63fea27f20e9343f
+size 6054336
diff --git a/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/aed8a65a-d737-4c78-967f-d9d169260836_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/aed8a65a-d737-4c78-967f-d9d169260836_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..96f013de0a0c98f8caf06d786efb34b747b8718d
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/aed8a65a-d737-4c78-967f-d9d169260836_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07c25e4980048aab46be8c7adf78c2421ef17ba4c3bf28811c446d777e55e350
+size 4371318
diff --git a/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ced03809-1dc8-4bb9-9b3b-89789b82b591_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ced03809-1dc8-4bb9-9b3b-89789b82b591_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3477e3fc5031042e0a82e1bfd0171e44e69acd0f
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ced03809-1dc8-4bb9-9b3b-89789b82b591_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4297fda9643ad7674c11e47a6dbc70465e0611d7c23830828187622172b7ce0
+size 5297741
diff --git a/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/decc6ded-b5be-49d9-a8f7-311e8b540fa3_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/decc6ded-b5be-49d9-a8f7-311e8b540fa3_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e275ffc32bd2563990cf5da33a2272ffe5f0fae
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/decc6ded-b5be-49d9-a8f7-311e8b540fa3_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:021fcb2b9445343ee399d954a3d3bb3af07764e8495839b069d7984f600180b4
+size 4360956
diff --git a/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/df0f73d0-56b7-405f-bcd0-80d9341fc687_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/df0f73d0-56b7-405f-bcd0-80d9341fc687_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93e3fd0ff7bcb373a6bbd9ba0036cccbe664b075
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/df0f73d0-56b7-405f-bcd0-80d9341fc687_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0005b87fba88c60013e3ddc5742a9530dd4644187de7972405ed36a85fc95418
+size 4766939
diff --git a/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e4145fbf-7fb6-465f-add3-54400d36e7dd_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e4145fbf-7fb6-465f-add3-54400d36e7dd_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..84bad1d05b450cb6a48d8ca78004b5c58790f321
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e4145fbf-7fb6-465f-add3-54400d36e7dd_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e79e308c7e1988498d9115b679b57d7316744651172fc5c4c9b4dfe4f43b65c
+size 4444612
diff --git a/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ea99bddc-4574-43d1-85db-00f5e7fe6c6b_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ea99bddc-4574-43d1-85db-00f5e7fe6c6b_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1bab5c7a3803b2ba1190d5a2bda77188970627da
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ea99bddc-4574-43d1-85db-00f5e7fe6c6b_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32099ff00af90eb4ef9bee5042db29a03d61067a7fa8c5bd9df4d2dcc51dad86
+size 3925870
diff --git a/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ebe9e1ff-e692-4b1f-b87c-4f96bbfb1f49_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ebe9e1ff-e692-4b1f-b87c-4f96bbfb1f49_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d2afe33c2555e35c52a2224a88481bb74dbded2f
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/ebe9e1ff-e692-4b1f-b87c-4f96bbfb1f49_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57f45659152f44fe4c6a1c1feebcafe048597122c06bf4dd789cc468b1e9a8d0
+size 4894775
diff --git a/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/0c6ab489-184d-43bb-b31f-43c1d64e51d4_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/0c6ab489-184d-43bb-b31f-43c1d64e51d4_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0575cab550211982d1e2cb081701c68b967b37ff
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/0c6ab489-184d-43bb-b31f-43c1d64e51d4_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8544f8576c0d2838b95cbaae199693a1318253cfa6646d39e1e9ac3800ce8a11
+size 4339395
diff --git a/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/0d3eb2e6-3d03-4bef-9281-210ca5ce04ce_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/0d3eb2e6-3d03-4bef-9281-210ca5ce04ce_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c9aa4cce3ee1320c03e513941bcffad309fe5178
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/0d3eb2e6-3d03-4bef-9281-210ca5ce04ce_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6a324dd64be04e690b873bdf6e2f6f81653215fc1f637d4ebc767e80fdcf98a
+size 3824602
diff --git a/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/0e85d800-e5ae-4db7-b04b-b712aec47d41_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/0e85d800-e5ae-4db7-b04b-b712aec47d41_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0fe3304ad2cf1ffea38939c2c6c53f9187ac98d5
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/0e85d800-e5ae-4db7-b04b-b712aec47d41_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d70c1b922d92f7b7c5eb34bc6f5de2154194f7661683332b64601a42fd03237
+size 4764167
diff --git a/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/142f391f-48e5-4ef5-81aa-06fbfef9d0a5_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/142f391f-48e5-4ef5-81aa-06fbfef9d0a5_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..36f0c7ce1c6161bc42d2c0590e2d3847a9e80921
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/142f391f-48e5-4ef5-81aa-06fbfef9d0a5_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc32f00af4ab0363ca9f8efe73d6725a2a549acbee016a24c8534ae31e37f325
+size 3694783
diff --git a/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1b90b64e-1fb4-4334-872d-82e4330f9df2_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1b90b64e-1fb4-4334-872d-82e4330f9df2_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dfd94ac0d89ecad3e90749ac86ac18a4df7e6056
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1b90b64e-1fb4-4334-872d-82e4330f9df2_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0769091935648c4658663d77b07943ddeac05cc4e978a45b83ccadf88b33e7dc
+size 5650985
diff --git a/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1be458f1-24bb-44f5-b02a-c49e2a78478a_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1be458f1-24bb-44f5-b02a-c49e2a78478a_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..632acddf5ab220d2356d85bfbd3709805ae7d8c5
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1be458f1-24bb-44f5-b02a-c49e2a78478a_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3461a661e09ed900ef756a4155a54cca913f69fb417fe53bed734ad046756aa
+size 4269141
diff --git a/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/39fae402-6c91-4163-9706-be3a31388c93_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/39fae402-6c91-4163-9706-be3a31388c93_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7ee55a70de24fbeb2faa657572b4449e525ec270
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/39fae402-6c91-4163-9706-be3a31388c93_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:062f3ecccb9043500adc84ea8ead3a349b5ac1bf2133a7f43d872fbe4ad8939f
+size 4862943
diff --git a/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/71160120-2e4a-48d8-a58c-7eef34f05d4c_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/71160120-2e4a-48d8-a58c-7eef34f05d4c_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29dd4b51304e08e5636925766c4720404d7c91dc
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/71160120-2e4a-48d8-a58c-7eef34f05d4c_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14b62eebe6131bf23f59390c2df87e7cf4bc3e50b2aed08b6ee83c3e363aced7
+size 4367704
diff --git a/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/7ff0165d-0c26-452f-a037-20d651949e64_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/7ff0165d-0c26-452f-a037-20d651949e64_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..05ffdff2a5b1594411788a47a94f3cfbf6c320cc
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/7ff0165d-0c26-452f-a037-20d651949e64_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08fdac4745985e9ffd400d9ff639705586dfb979a003e0c8663d8296f5f8d1df
+size 4107751
diff --git a/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/8e7e06ed-1e11-4c7d-90a0-e567522d38d2_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/8e7e06ed-1e11-4c7d-90a0-e567522d38d2_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f542f77e137476f14d583bf99e83a97cb0f19a0
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/8e7e06ed-1e11-4c7d-90a0-e567522d38d2_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e935fe46b793a862a251deccf5d963468b7f9f9973ed6db1bb55a568d8f3fa3f
+size 6581517
diff --git a/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/a9644e45-5560-4f2d-9dfc-c939c2b74f53_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/a9644e45-5560-4f2d-9dfc-c939c2b74f53_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e489dac3ac0b4f7d166bda69ebd52223f193da30
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/a9644e45-5560-4f2d-9dfc-c939c2b74f53_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bb574dc75a0f48b36be9fef67c544a8a287438eb190763ea0bf94b177c4f03b
+size 5945692
diff --git a/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b930669e-5488-49d6-8604-93fb096ea166_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b930669e-5488-49d6-8604-93fb096ea166_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b17ea2107dc8819cb2ccf824d0e0bd9667a06a96
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b930669e-5488-49d6-8604-93fb096ea166_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25064aab0fa3ac5e1bb2fefa75169079d99d265e433e41778fc22dc5f2b199e3
+size 5295306
diff --git a/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b9b4438f-bff4-4ba7-982b-20ebcf0082be_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b9b4438f-bff4-4ba7-982b-20ebcf0082be_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..80785c744a1e5155eb26d729149144a9e48a85a9
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b9b4438f-bff4-4ba7-982b-20ebcf0082be_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a51452978994973b9faafa49ab83e3fd30dfdf84af31555ab1571b7980f822f
+size 5615222
diff --git a/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/bac8098f-1a0e-4d83-aee0-26a4ceb805dd_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/bac8098f-1a0e-4d83-aee0-26a4ceb805dd_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a98fc307d81a2cf5e294c1c5b114533410752735
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/bac8098f-1a0e-4d83-aee0-26a4ceb805dd_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22736a43773310a478e7188e5e1db2d85fc02dd3842e08f9615cb3b987cf58ad
+size 4647808
diff --git a/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/cf79a346-32bb-4a97-8681-1ef50c6cef78_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/cf79a346-32bb-4a97-8681-1ef50c6cef78_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d6a7a444c638beae96745edab45522154f715dca
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/cf79a346-32bb-4a97-8681-1ef50c6cef78_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28ef489b6f183827ae233edb6bd707b117a6c84b3f8af14f02289f04251f1a83
+size 3663715
diff --git a/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/d07ca79a-ebfc-4e4c-817d-d2c641b0814e_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/d07ca79a-ebfc-4e4c-817d-d2c641b0814e_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a2f89cd25fc49fb951627db379eee490532b15d
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/d07ca79a-ebfc-4e4c-817d-d2c641b0814e_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3af70e2d07bf9ee85e3df83e4a75976c97d9fcb9864c2c01ec993c48f7c08159
+size 3939618
diff --git a/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/dd0b3c85-4cf8-437c-8815-991e3082d139_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/dd0b3c85-4cf8-437c-8815-991e3082d139_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e9ecb16bf13d5c4818248581c01adf0644a07fa
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/dd0b3c85-4cf8-437c-8815-991e3082d139_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:907ea9d580287a82185d15962dc23c5c40a548a014993e37f6b4230716ba8e89
+size 4545732
diff --git a/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/e11e7f5a-7ab4-4e11-bc3d-0eac42d7a228_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/e11e7f5a-7ab4-4e11-bc3d-0eac42d7a228_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7c344f8bee49e07376e85573597b57f7b1412c27
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/e11e7f5a-7ab4-4e11-bc3d-0eac42d7a228_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e752e4dfea978bc6ea2136ece5c11012864a7eb9d5c7c974e210ed09d9739259
+size 4354456
diff --git a/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/f3fd36c1-ce5f-4102-a0b9-7fabd6151081_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/f3fd36c1-ce5f-4102-a0b9-7fabd6151081_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1526d895a32428d6615e626fc4be50fac06a4732
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/f3fd36c1-ce5f-4102-a0b9-7fabd6151081_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98550c4a13997111c8307f2b0f5a0febfc62c400411530a749898d0a62740e09
+size 4404883
diff --git a/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/fa88d357-ac12-43ad-8feb-e078f1847150_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/fa88d357-ac12-43ad-8feb-e078f1847150_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17181debf50e936d94fa462269dcd354ca74c284
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/fa88d357-ac12-43ad-8feb-e078f1847150_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f42b49fcdb83644d60a990ee167418bf566c100c996df63a17e75aa575269f0
+size 5625193
diff --git a/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/019d778a-b170-4c02-aaf7-0aaff230c31d_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/019d778a-b170-4c02-aaf7-0aaff230c31d_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3e1f0ba090a334efb3e921cc249f297d64fb17f
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/019d778a-b170-4c02-aaf7-0aaff230c31d_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf3948c2cbfc030fcbcbd3b7e0671c71f1e9a9a1ad0adb06879ae849368b84e1
+size 3916700
diff --git a/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/0edb3423-6af6-4139-add4-e8651e7c4abf_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/0edb3423-6af6-4139-add4-e8651e7c4abf_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a4d488e6409f682a44daf5f1b6d64fdc0c1611f
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/0edb3423-6af6-4139-add4-e8651e7c4abf_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4283c5081c02b5165065e4e2b02250f8e844dfd16ee720984349b213b1a7d411
+size 5197424
diff --git a/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/177c40c3-995e-4989-89b5-02acebf3b5f6_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/177c40c3-995e-4989-89b5-02acebf3b5f6_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c47423217acd6bf6b8d7ed45175256b3943897af
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/177c40c3-995e-4989-89b5-02acebf3b5f6_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37d4b0f75003a798f82afdfc18d24a84823b36d977ad0d5cd673cea778c9fb84
+size 4890778
diff --git a/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1df891b1-3620-4bda-80b9-3f6f48a59e08_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1df891b1-3620-4bda-80b9-3f6f48a59e08_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e8151c832dca6d64f1166acb3d64aa1c3f8645b8
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1df891b1-3620-4bda-80b9-3f6f48a59e08_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:363548729c964b3ac27b5d21e07d054c93d4d7598b4b6da8e385c3d49b47f243
+size 5627521
diff --git a/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1f0ec300-8a85-4b0c-9298-0330d53a6688_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1f0ec300-8a85-4b0c-9298-0330d53a6688_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bf29aa06f1e109c4d043caf576ae01abe0a27225
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1f0ec300-8a85-4b0c-9298-0330d53a6688_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc07dfafb357d6529c2f90f290639ae65aeca38c48177e7ac43dc78164555a9f
+size 5005090
diff --git a/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/21239d55-cb6d-49a1-b943-e7736cda13f9_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/21239d55-cb6d-49a1-b943-e7736cda13f9_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..63455b6c71aa5a9f5de8a712b49280f487d42654
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/21239d55-cb6d-49a1-b943-e7736cda13f9_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbd52ac89f736ee3f37d9368ec58751bc2552ce80f0832c2d8cd56717e099bb7
+size 4479222
diff --git a/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/31069ac7-999b-4284-b921-f95e718376ba_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/31069ac7-999b-4284-b921-f95e718376ba_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac36cd36f9500f1741810328a0f5c93801e261ed
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/31069ac7-999b-4284-b921-f95e718376ba_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:824baec3a70c701ba40be1830248559a6716e1f3925a6155ab08f95a540adb9e
+size 5336714
diff --git a/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/421177e3-bbac-40e4-9881-96278c510e81_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/421177e3-bbac-40e4-9881-96278c510e81_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..88db7ba6eccbd9e16293a6a881fe5442301fdcb9
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/421177e3-bbac-40e4-9881-96278c510e81_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f90debfd18e56618f747b0486ee3c2f841f38804c72465b1ecb48d083ef29a9e
+size 3941508
diff --git a/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/467784d6-84d7-4ceb-8233-6213a5bf3e72_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/467784d6-84d7-4ceb-8233-6213a5bf3e72_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..448f7c9d286420514ebe8aa834847753ffae5277
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/467784d6-84d7-4ceb-8233-6213a5bf3e72_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b226431288d04b5c183e10e97c33b4022d7b6c6595488ca45b15546dcc5a03f8
+size 6293965
diff --git a/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/4cbf710e-5e6b-4c66-b23e-adce347713f3_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/4cbf710e-5e6b-4c66-b23e-adce347713f3_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..11910c655a5305299253954fe076833a38c8a63f
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/4cbf710e-5e6b-4c66-b23e-adce347713f3_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ee647a39a18f37f09f77e0da79721d3298fa249695cf194097c286fc1e9ed5a
+size 5779817
diff --git a/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/55763db0-90de-422c-81c7-ea74e3969956_success1.mp4 b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/55763db0-90de-422c-81c7-ea74e3969956_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b8842309d1888f5e6e0827dd301ba0999ee466ac
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/55763db0-90de-422c-81c7-ea74e3969956_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e478760e3740f77db5a0bfc9a4b645a418ae4179065e9bf115bfaaac8b02de16
+size 3720226
diff --git a/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/79396b6b-effb-4484-8b7f-0a25063786c9_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/79396b6b-effb-4484-8b7f-0a25063786c9_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..24917eeeff915560740b81a043b614c949cc05a2
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/79396b6b-effb-4484-8b7f-0a25063786c9_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36daa442b268170da4a6fbbe91834c6d0a01be15309d9bf7a8447808fa8a85c2
+size 3759950
diff --git a/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/81f2f559-4e20-48f4-b342-a93f260f0097_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/81f2f559-4e20-48f4-b342-a93f260f0097_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b46bfc5253c0765051ad6681315903a405881436
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/81f2f559-4e20-48f4-b342-a93f260f0097_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a5fc91a0ff778690da7f9e500141f02c3a72cc87f8795a1250ec5eb54d374f3
+size 5241053
diff --git a/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/97c879ed-abbe-41d6-8b50-d7d0269c4257_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/97c879ed-abbe-41d6-8b50-d7d0269c4257_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cacd6eced723aa7ef762a95b332887c5965ce8ae
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/97c879ed-abbe-41d6-8b50-d7d0269c4257_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cab7cb40bc0f5b6967b4f1dd05fe5e09277f7d78b6273de7606022613221330
+size 4393173
diff --git a/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/ba853b38-29dc-4772-8348-9cd1e1b575fe_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/ba853b38-29dc-4772-8348-9cd1e1b575fe_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e69532157d1da8bd7155b573e39ccb722e2cbc4c
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/ba853b38-29dc-4772-8348-9cd1e1b575fe_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9459cac87f83d94c6a2747f25786bf64db83c6d6ea996bdd8db9555ee513a13
+size 4659326
diff --git a/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/be27887d-90e3-4154-87ac-be642f691cab_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/be27887d-90e3-4154-87ac-be642f691cab_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bf3eaca8ded48011b93145a55c93a26b63bbe3cc
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/be27887d-90e3-4154-87ac-be642f691cab_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3efa063f255258fe16ef45c8d71d5602d52c4fdd073772947ea7408b791e72e
+size 5844048
diff --git a/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c017024f-5c41-4a42-b8e5-6378bd5b9f8e_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c017024f-5c41-4a42-b8e5-6378bd5b9f8e_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..733b5b29c74f7b393ff9e9a5768a0af92d882895
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c017024f-5c41-4a42-b8e5-6378bd5b9f8e_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae0925f873c760eea8fc864b530f4fd8a49a9a65150fb07b93a9d4e057bd3af2
+size 5862502
diff --git a/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c6bfcbfe-ac03-4252-9039-dc88b9c3f750_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c6bfcbfe-ac03-4252-9039-dc88b9c3f750_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0b3e9b558a2441bfc88ac6d490f0d810b7b5ad2d
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c6bfcbfe-ac03-4252-9039-dc88b9c3f750_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ffc5fcb6fbed437b20c184e7b5b9baf1e5fc3e6d81547800dd51f9543453f79
+size 5822043
diff --git a/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c84ba755-6306-4557-80f8-8791457cb2ca_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c84ba755-6306-4557-80f8-8791457cb2ca_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d95b5ed76956cb0cf7073aa7f49de5c7415fb674
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c84ba755-6306-4557-80f8-8791457cb2ca_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb01b8afe6327a703a6a82e79b4c202c9459ad783e5074f69ce7525edef5d2a4
+size 5191413
diff --git a/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/e7028280-0287-470e-b6ad-4136ea811e68_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/e7028280-0287-470e-b6ad-4136ea811e68_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d18016ffe70d1f5d2f3cf22d188bd031a485bd0
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/e7028280-0287-470e-b6ad-4136ea811e68_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cffc8aafbbd563d48aec771d3c72e424af1b203c70399641ef36ffb7616869be
+size 5698049
diff --git a/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/09a2fafe-da0c-42dc-b29b-aba151762246_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/09a2fafe-da0c-42dc-b29b-aba151762246_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2187d0bf2398bb140de131bd292412756ff8147f
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/09a2fafe-da0c-42dc-b29b-aba151762246_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ef71c1203a84e83c784182c81d9b2818d6eaf45aed51595c471a56b677d86d9
+size 3781467
diff --git a/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/105853a4-f7af-4e33-b72f-637ca7f7559c_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/105853a4-f7af-4e33-b72f-637ca7f7559c_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a0430e969e180848fa33619e3466549f1d07103d
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/105853a4-f7af-4e33-b72f-637ca7f7559c_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81bf88b2e7e8b8f73adc534c82db403cfbf91fe00d354e1d4fe650e29d3f2542
+size 4450139
diff --git a/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3b182b2b-1e83-4ef9-9047-d268394a7f6e_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3b182b2b-1e83-4ef9-9047-d268394a7f6e_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db4cab889887191ba724a50c21f7ed23d65bb042
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3b182b2b-1e83-4ef9-9047-d268394a7f6e_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c139f4d9d2570d912decbf03b44d5be042a696ee0cf82cc4284d89eb534da89
+size 3466796
diff --git a/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3b65e286-6bb1-4f06-9882-ac532021c4a1_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3b65e286-6bb1-4f06-9882-ac532021c4a1_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..725deaf5b5a5a321d31adad015204e5fbe0a93a8
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3b65e286-6bb1-4f06-9882-ac532021c4a1_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7b0c92a7c3cd91abdba662b421b4022e26d626b51d9143ddf40efe3ea0be0ac
+size 2896973
diff --git a/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/44cfcd99-3b7f-4749-bd54-dfa17f703845_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/44cfcd99-3b7f-4749-bd54-dfa17f703845_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..550af76e53d5c62b925b0a3fb1c9d68d9efb3e6a
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/44cfcd99-3b7f-4749-bd54-dfa17f703845_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4b97cc11b6b47742424cfe1c56cedcf731c057542f2fa553bca520433e279f4
+size 4971885
diff --git a/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/48b7cd0f-ea60-4b60-9767-d825fe085d3b_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/48b7cd0f-ea60-4b60-9767-d825fe085d3b_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad4dc67d2eafa5645ddf84ced37ec60822c4a29e
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/48b7cd0f-ea60-4b60-9767-d825fe085d3b_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84ee52905f3fd751ba1af43e4d6c2188a9c345fc51e47a45fc13befd8e0e5551
+size 2419300
diff --git a/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/4fdf03cb-ea2d-4e89-8d79-9b0dd07f2ad4_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/4fdf03cb-ea2d-4e89-8d79-9b0dd07f2ad4_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b92a0466b0bd148eab78156274b7147e2d73870c
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/4fdf03cb-ea2d-4e89-8d79-9b0dd07f2ad4_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e06624d74d7e464eeab31e2b9c352f59820a371c5957e8c73a8632f12abba9c9
+size 3615341
diff --git a/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/525e3880-cae9-4681-9a2a-6af8e57a4783_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/525e3880-cae9-4681-9a2a-6af8e57a4783_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93bae9f7f07e582d1e54ea8db88aff2839e92d0b
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/525e3880-cae9-4681-9a2a-6af8e57a4783_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03d20625a6c5e16a0007c6853aeb07dabbb8fff05ef26c4f3d243e8aec03da94
+size 2897168
diff --git a/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/72eac7cb-a49e-476b-9e96-54ccee955f9b_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/72eac7cb-a49e-476b-9e96-54ccee955f9b_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db8a915ea1a436dc26ada748b7f30617a9210f70
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/72eac7cb-a49e-476b-9e96-54ccee955f9b_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e76986cb102504c857577c602aced4cdebdde909540b26522bd4647937277d26
+size 3926070
diff --git a/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/89164686-80bd-4d00-846c-16d099620b27_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/89164686-80bd-4d00-846c-16d099620b27_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d07602306d842a4e98afb10000c916fdb6f78784
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/89164686-80bd-4d00-846c-16d099620b27_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f667eaea13a944f9aa85633461ebea3a5577bc02e634cc2ac35df7cd9c4ccf
+size 3454626
diff --git a/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/9031fc0d-a381-42da-8eb0-0d3e299738d5_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/9031fc0d-a381-42da-8eb0-0d3e299738d5_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..05ac4ef261d329df2181a86d5809757958957aba
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/9031fc0d-a381-42da-8eb0-0d3e299738d5_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f57acfdaa99ec9e4ee1cb4aca89a98caad053c546df29fd407b9d5fc19d42d14
+size 4197013
diff --git a/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/9b1d6761-3b3a-45ac-b30e-b5a5d19958a1_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/9b1d6761-3b3a-45ac-b30e-b5a5d19958a1_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b1906edde6a9a38869bb3270d59b0dd6faf2465
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/9b1d6761-3b3a-45ac-b30e-b5a5d19958a1_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec640083c601420c90493e03b6f0efe61e29ac6e9665b58378ece07f1367c724
+size 3455570
diff --git a/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/a2129a86-46c2-40e0-bc9f-5fd694e34176_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/a2129a86-46c2-40e0-bc9f-5fd694e34176_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..581ec3a3f189b07aa0a4f134e52eb3662e8c9561
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/a2129a86-46c2-40e0-bc9f-5fd694e34176_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3757179b9dfd04deb579ee5fd650ac218a8aad7172902a83aa070f9d5dd8d6f6
+size 3767993
diff --git a/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/b5996302-5e6a-4357-887d-a63973cbea09_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/b5996302-5e6a-4357-887d-a63973cbea09_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..28dbfe5ec00afe462d0c466e763279b9d6cf8a43
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/b5996302-5e6a-4357-887d-a63973cbea09_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3f2f2245f41b35cdad0e42d3072400ee312777ffc363bb5d8026e67ed9c89b9
+size 3147687
diff --git a/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/bd129b40-1a86-4025-baa3-383d3083934a_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/bd129b40-1a86-4025-baa3-383d3083934a_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f8d205ec8130a5017fb4bf66def3e7f8a6610bff
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/bd129b40-1a86-4025-baa3-383d3083934a_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4374ab589baf207adf95f41cb711f145545f226d1c127931579a85ca152b9320
+size 5060727
diff --git a/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/be16097a-a3a6-413c-83c0-7ac3aa0bafd9_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/be16097a-a3a6-413c-83c0-7ac3aa0bafd9_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f679562f5b6258a0841c0905c055ca3a362d2b1e
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/be16097a-a3a6-413c-83c0-7ac3aa0bafd9_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9548f5bd3409a4700c6671d4a8cdfe10099d34d05cb2737a8fbedee8b1a62e37
+size 3805900
diff --git a/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/d840d2d7-43fe-446f-b379-0b7fccb0756f_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/d840d2d7-43fe-446f-b379-0b7fccb0756f_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4c21b690954fd1c62568321c8e741cedf760ba7c
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/d840d2d7-43fe-446f-b379-0b7fccb0756f_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f360644ede94dfe09c522baa56037d0593e667f1651a2a6d8d9fd5808b90943
+size 3126108
diff --git a/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/de26d7ae-a7ef-4ffa-b513-1f3ffb6e37eb_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/de26d7ae-a7ef-4ffa-b513-1f3ffb6e37eb_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b139bdba01828186dae9969dfcf5ee1e5764615
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/de26d7ae-a7ef-4ffa-b513-1f3ffb6e37eb_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5ef7b6061dd85cdd86183ba38a67cd991c3a4bf4ff7a56c08e62aa36524d802
+size 3257252
diff --git a/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e90255df-d454-498f-8ff2-133449f88833_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e90255df-d454-498f-8ff2-133449f88833_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f922d6374549575f9b1524330107967287960c8d
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e90255df-d454-498f-8ff2-133449f88833_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2acb6a3d2c5f4268b52128884d72292bf55e3adc6542e07c17df944aca4c54df
+size 5793247
diff --git a/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/f1f21190-bf6c-4513-b2b4-7a7e4ca91d41_success0.mp4 b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/f1f21190-bf6c-4513-b2b4-7a7e4ca91d41_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66affde60de736b6d56501d6446c0cb843cf6ce7
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/f1f21190-bf6c-4513-b2b4-7a7e4ca91d41_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed384020bc38e7308194b4f676f1aab6473f438a6b1bcae4b063982500e18625
+size 3253645
diff --git a/v2/__eval_r2/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt b/v2/__eval_r2/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..af351e43a09b12bcc55ffdba5df5ad822dbc67a5
--- /dev/null
+++ b/v2/__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)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 201.35 seconds
+Results for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.35
diff --git a/v2/__eval_r2/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt b/v2/__eval_r2/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d76664abb6893dbe3916be04f7975cc380733b42
--- /dev/null
+++ b/v2/__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] 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] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[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] 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] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite 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 187.65 seconds
+Results for gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.35
diff --git a/v2/__eval_r2/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt b/v2/__eval_r2/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3bab0398a9d902e161263e711deceeb5c57e15dd
--- /dev/null
+++ b/v2/__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] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 192.56 seconds
+Results for gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.20
diff --git a/v2/__eval_r2/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt b/v2/__eval_r2/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..170b715b9af85d4b30344103045ccf0c933c8c3a
--- /dev/null
+++ b/v2/__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)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 197.75 seconds
+Results for gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.10
diff --git a/v2/__eval_r2/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt b/v2/__eval_r2/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5b38e3627a3de723a07456270ad5d8401aba7fa4
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite 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] 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)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 196.77 seconds
+Results for gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.20
diff --git a/v2/__eval_r2/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt b/v2/__eval_r2/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0e22796ab8b95daeb746aeebe9410a41e26d24be
--- /dev/null
+++ b/v2/__eval_r2/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] 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)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 195.00 seconds
+Results for gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.00
diff --git a/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/10483869-c10e-492d-afe8-b4d6787345c6_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/10483869-c10e-492d-afe8-b4d6787345c6_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd7d5a2ac3f5219273881dc3f310c95bba1e6432
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/10483869-c10e-492d-afe8-b4d6787345c6_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6fcebbbdd7ebe73c31e2bba1deffe448e6df9ae8a217ea1e268532a910b450b
+size 3392723
diff --git a/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/19ca5cf1-c093-44e6-b1ed-33b712f21eed_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/19ca5cf1-c093-44e6-b1ed-33b712f21eed_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d7ab1490d8e132a42a291e9f0ac08f6c5597b0ef
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/19ca5cf1-c093-44e6-b1ed-33b712f21eed_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:426276e4b001b1db4a5c870882f09c7a6e24e7af5285c0b1c737cf87dd5a1be4
+size 2751584
diff --git a/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/207fc32a-cc1b-410c-8024-b03e97a030a6_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/207fc32a-cc1b-410c-8024-b03e97a030a6_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f247060d1c2b199c5b8fdcd766fc3e83a27de847
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/207fc32a-cc1b-410c-8024-b03e97a030a6_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6ada42274e2fae7e237f8d586ff1894838b5a1622fb410725b4f87f335023cd
+size 3486316
diff --git a/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/27064d09-33cd-4d4f-bba7-ac6661995c74_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/27064d09-33cd-4d4f-bba7-ac6661995c74_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4085dad4076adf7dee7ba938671e4d5d5aaf355
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/27064d09-33cd-4d4f-bba7-ac6661995c74_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0e75bc5e74a58475e3550c272cbebd2d8ef74158bcbfa1676cf90d5305bc886
+size 3324149
diff --git a/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3d2512a1-8416-4311-a072-2f5bf7024275_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3d2512a1-8416-4311-a072-2f5bf7024275_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..38c5efb633b6b1cb09e402b69a07310c276bc134
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3d2512a1-8416-4311-a072-2f5bf7024275_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:942e0850903715e13af12828ebbd49a3f6027428d16655650c3a5928cd0f45e2
+size 2857328
diff --git a/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/6a607429-1d48-44ef-bb25-f084065d236b_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/6a607429-1d48-44ef-bb25-f084065d236b_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d7432ae0365f00482a9a86f47c5cf31635dc0af8
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/6a607429-1d48-44ef-bb25-f084065d236b_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fbcb91f1ec62b4b27bf67838c38a2fe37e9ca7f81c04123bfe519b1faa16115
+size 5240472
diff --git a/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/8879c878-79ef-4085-a204-9f0613098dc5_success1.mp4 b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/8879c878-79ef-4085-a204-9f0613098dc5_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d000bbefbd143d2d9b3c72b024ceb94eef6bfec2
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/8879c878-79ef-4085-a204-9f0613098dc5_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b4fbd853601807659964d428ac5febcb51d84da997bfed67397853397e5eb9b
+size 4774628
diff --git a/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/8e1c7b0a-0066-4743-829b-4188cda94f6a_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/8e1c7b0a-0066-4743-829b-4188cda94f6a_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb7810a2c45317b6f0967072a7ccab4598855e15
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/8e1c7b0a-0066-4743-829b-4188cda94f6a_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:894edc4ab940a1c959402b033eb4b7e4db0b995bda8b6ee862d75c09c14b189a
+size 3030413
diff --git a/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/9f8dcec3-2026-46ab-9b0c-48c72db04dc3_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/9f8dcec3-2026-46ab-9b0c-48c72db04dc3_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0b1478b469767bc6a828cc6d61cbb30a3b3cfd7
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/9f8dcec3-2026-46ab-9b0c-48c72db04dc3_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c526f94b66df31fce5bbfc18e7e5038ca73f2c3adb7de83fe0d5375b4d4f29d3
+size 3066718
diff --git a/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/a05f5ae8-df0d-466e-b3ad-7fdc4c3cd8ef_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/a05f5ae8-df0d-466e-b3ad-7fdc4c3cd8ef_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fe38f863658b2e312101306698ce5f0b78cbe93a
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/a05f5ae8-df0d-466e-b3ad-7fdc4c3cd8ef_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d355a93b1415a92c1da02d5c770b4ef81775d44ec8c0fd54769997f8bbcb5d7
+size 4464980
diff --git a/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/b4dbadac-4552-47f8-bc63-33ed8d0465c9_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/b4dbadac-4552-47f8-bc63-33ed8d0465c9_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..06bbc0ed4f93e30792c2a8c202624e5e67bd699f
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/b4dbadac-4552-47f8-bc63-33ed8d0465c9_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99cd49db1ea75fd1147274bc52aca65e025be38bca99a8ce9ee80100b4e21d7b
+size 5098013
diff --git a/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/b6d00f4e-ed39-4763-aa8b-4f73c3a24f8c_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/b6d00f4e-ed39-4763-aa8b-4f73c3a24f8c_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7117b56af5c94c40e021fc42986c726b8d388ef0
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/b6d00f4e-ed39-4763-aa8b-4f73c3a24f8c_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d5d930ff21382d4692327a2e64fd5c7a01ff5707145473075aebf584de5efdd
+size 2670944
diff --git a/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ba8208c5-e1ba-4715-9cae-2c223b5317c7_success1.mp4 b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ba8208c5-e1ba-4715-9cae-2c223b5317c7_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d34f102e4484705d8dbe68ef71f6d15ede99ceb2
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ba8208c5-e1ba-4715-9cae-2c223b5317c7_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5952bc21571b97953aa0e1d65f9cf41b5c5cd5f9c41627fdba2ac597e4450944
+size 4994781
diff --git a/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c0abcd55-c598-40ab-b156-074b5f2ca51f_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c0abcd55-c598-40ab-b156-074b5f2ca51f_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..39d989492d26a854f881108fb5a8a8eb1dbf4e06
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c0abcd55-c598-40ab-b156-074b5f2ca51f_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68324f84ea1931f9b29bcf795db6e90c1c64c6b8486170ff6fb069e46f7c21dd
+size 3469380
diff --git a/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ca610e6e-1adf-4807-b21f-694ca50302a9_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ca610e6e-1adf-4807-b21f-694ca50302a9_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e7940df27077f54d978a06dee54fce47a03afc8a
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ca610e6e-1adf-4807-b21f-694ca50302a9_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99c8490e9db9361950fa08cdb3c0d2a5ec9b6d872870555319f5479ecc29462d
+size 3512995
diff --git a/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ca724253-408b-42ad-9bdb-e6f87facdc65_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ca724253-408b-42ad-9bdb-e6f87facdc65_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..40b392c7a93545d43ae389ee12d10c52ab580025
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ca724253-408b-42ad-9bdb-e6f87facdc65_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9be8dbf2e49a650fef3fe7a215ecbb2bb2b7b044ccdd879c1da8623953396eb7
+size 4999264
diff --git a/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/dcae6b5b-2629-44a0-ba46-e08e62677461_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/dcae6b5b-2629-44a0-ba46-e08e62677461_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f892597c247f54e773644df6a2d5993bcb2cd9b9
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/dcae6b5b-2629-44a0-ba46-e08e62677461_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c13ac93d7fcdc0cdfcf3c5e1ccbda52f6d7ed62a4a4dcf4959e00a3a8d0ea11
+size 4997002
diff --git a/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e7cd3057-5f1d-4950-bd98-e525e4e1e864_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e7cd3057-5f1d-4950-bd98-e525e4e1e864_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46394996dc301b824cfd319d721538198a2c424b
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e7cd3057-5f1d-4950-bd98-e525e4e1e864_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a262e011a28e00ecaa723f7c4ad0d78fe3ce01ad938d3dd06c2934e1b7ddabe6
+size 3437097
diff --git a/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e9a16899-f834-4d60-8b18-6a6a750b7381_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e9a16899-f834-4d60-8b18-6a6a750b7381_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95fc483e67ad369b3e5056b4e08f2306f8de8d7b
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/e9a16899-f834-4d60-8b18-6a6a750b7381_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:828c88c6d5686eef58d425c31f17448e21f06a80f017b7bb970f8316ea5122a4
+size 2974178
diff --git a/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/fd6373d1-1987-4f3c-84f3-387a3d079e77_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/fd6373d1-1987-4f3c-84f3-387a3d079e77_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a8dfb4891fbbb8b40aa4bde6647674b73e73bd7
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/fd6373d1-1987-4f3c-84f3-387a3d079e77_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:768930f04aa89f9eeac24f39e54947cf20ed38069a07e917010672a213871ec4
+size 5207286
diff --git a/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/013385a8-78bf-46a7-b7c7-8be8f7fdcbf9_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/013385a8-78bf-46a7-b7c7-8be8f7fdcbf9_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e7c7987ec4642eff22bfed6b978f2ae21807f75
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/013385a8-78bf-46a7-b7c7-8be8f7fdcbf9_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e81098b879973ec9bd79d42f17d6e295e105b2c7ce0d0045f68f5fba7687c22e
+size 4517641
diff --git a/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/02acf744-8a9a-4c7a-a7f7-1041203fb434_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/02acf744-8a9a-4c7a-a7f7-1041203fb434_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..43c9662ec244ccb96970e9863a2795cf5b8d6663
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/02acf744-8a9a-4c7a-a7f7-1041203fb434_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fc8e20b287ed5f6b2888bc5bc89bc24466b0dc5297fa4bd88d372030c3edadc
+size 5168239
diff --git a/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/19a015d2-fc08-4709-8802-9ace8bb1b253_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/19a015d2-fc08-4709-8802-9ace8bb1b253_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..44d3bf5d59924eed0b52cd2be89b56b55a54bb5c
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/19a015d2-fc08-4709-8802-9ace8bb1b253_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:587d6d14f99f4ed33db28759139a2d811197def837e7773f310feefc5b3c98ac
+size 5179222
diff --git a/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/27bfb055-fa30-4204-bacc-cb113a2ca11e_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/27bfb055-fa30-4204-bacc-cb113a2ca11e_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..acfeb0169c8ea7f74bf1249e0c9da5269932eba4
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/27bfb055-fa30-4204-bacc-cb113a2ca11e_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9e9882c1adeacf091306068833332b1d553dbb9a1e4e8d56f26cc0ca7dfbff7
+size 4411260
diff --git a/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/3b85c679-eed7-4a16-8eec-489a6d27f1db_success1.mp4 b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/3b85c679-eed7-4a16-8eec-489a6d27f1db_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..451fd32c3f261c4f74f373af851d916ab7dc5e16
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/3b85c679-eed7-4a16-8eec-489a6d27f1db_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a7640ce8fc077a3ce18e96ef9d13de947ce5fcebf410b301d357ef810c1ab6c
+size 4171394
diff --git a/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/65b142a7-5e1b-45be-8a3f-f3a6d9ac64df_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/65b142a7-5e1b-45be-8a3f-f3a6d9ac64df_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec2477f2fee6b386de0b21265f26c6482a375ebe
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/65b142a7-5e1b-45be-8a3f-f3a6d9ac64df_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:378d032ab47fdc97f79aa051931fcc776b52dd2a38d322c267565bddbc94e536
+size 5838229
diff --git a/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/7890238c-6f74-42d9-ae68-798328004b66_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/7890238c-6f74-42d9-ae68-798328004b66_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..97ca59f1406dac8ccd80c7357c8a53a6c96b238a
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/7890238c-6f74-42d9-ae68-798328004b66_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:893d6ebe1d4ab9f540e5d3a7637e3c2e8b9b5d734fe4f697696ea95513d1731a
+size 4818896
diff --git a/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/8807ced4-ca3b-43af-8891-a5e000472f82_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/8807ced4-ca3b-43af-8891-a5e000472f82_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d35d89d65e699083c317d3b88a0329f5d38beda
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/8807ced4-ca3b-43af-8891-a5e000472f82_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:877073280a7ad1ee6c525d6fb329ed2005e32c59eef34bbcd215041d2399455a
+size 5612650
diff --git a/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/91e2fb86-fbe3-4607-9c38-0414c96d3e83_success1.mp4 b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/91e2fb86-fbe3-4607-9c38-0414c96d3e83_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a6904183305a433f82268878f43e05c4dfaffcf
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/91e2fb86-fbe3-4607-9c38-0414c96d3e83_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d948c04e4749a6922bcab50d831015e9cef3e58ed3e3fab79bef28430f46ef8
+size 4445270
diff --git a/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/991c57dd-5b4b-4cdb-9233-991fb2f1b0ef_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/991c57dd-5b4b-4cdb-9233-991fb2f1b0ef_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b94c6d520f047e397abcfbe808a95804f0caac67
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/991c57dd-5b4b-4cdb-9233-991fb2f1b0ef_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba0f4d85cfe18b1221b70778ea1cf8e9d054fa7efc0f7fc0e3d3f52252aba9ee
+size 4626739
diff --git a/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/a6992c82-356f-4a6e-99e5-39b794cc16e9_success1.mp4 b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/a6992c82-356f-4a6e-99e5-39b794cc16e9_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..962d9196b59337beb3fd050acb1fd17da8cc96ef
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/a6992c82-356f-4a6e-99e5-39b794cc16e9_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c20405fde7007eb0ce40b6fb5c312360974ae9c7f3be5405cc9ebf804bda848
+size 6302030
diff --git a/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/a727d790-d61b-4f82-a366-3ad58d0e9d05_success1.mp4 b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/a727d790-d61b-4f82-a366-3ad58d0e9d05_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..38dc83ba8711428a59b4d1cb0a76e4caf5c84827
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/a727d790-d61b-4f82-a366-3ad58d0e9d05_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaf7f1f621474f9011dd2d1bb3d2e88b6f73d11eea55018c6c7193854116cd34
+size 4447930
diff --git a/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/a8e77df1-99a1-4728-b3eb-91620af089fe_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/a8e77df1-99a1-4728-b3eb-91620af089fe_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..07661894478e71aa72b9483b3c1aa5e3366ffffe
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/a8e77df1-99a1-4728-b3eb-91620af089fe_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f16e7f8de7d94674041af9d85e66b89b171802a48df7c35551e75114b75cc19
+size 5861354
diff --git a/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/b245c2de-7694-4504-9c7c-ae3df8f2d408_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/b245c2de-7694-4504-9c7c-ae3df8f2d408_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f743017eb738b8e8fe954a8d1790dd96ad03ad49
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/b245c2de-7694-4504-9c7c-ae3df8f2d408_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38b72bc43a71ab16d74eeddd3cc6979d73364dec31abb9192a5aa9f948ca76f3
+size 5242744
diff --git a/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c08da6a9-4100-48d3-80cf-73a4aede850d_success1.mp4 b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c08da6a9-4100-48d3-80cf-73a4aede850d_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3dbfdcf742a0f94a8c132ca08083b1bd99e41e8e
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c08da6a9-4100-48d3-80cf-73a4aede850d_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:925893a6c7029c991000bce7eb8311d43b7c3307d37bb3ce2ac9a183bd702620
+size 4968747
diff --git a/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c8121354-77a4-4eed-98c9-d843ad52f519_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c8121354-77a4-4eed-98c9-d843ad52f519_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac33f42c5bb2dc7e9811b6445d0e49252c82a883
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c8121354-77a4-4eed-98c9-d843ad52f519_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f720dc440623e8da14da3d6bfe4186372f72587170cd57aaf5223328a7d42afe
+size 4678724
diff --git a/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/cf4bac8e-7545-449a-82af-cea24a6f493f_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/cf4bac8e-7545-449a-82af-cea24a6f493f_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4224a18ecd40e0ed04c0f27ed1bf61341ee4bf5c
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/cf4bac8e-7545-449a-82af-cea24a6f493f_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b69ad0d3d12aa785370f12436f0864d1bdebf86f3017cc5b80eb483d3fc58b6
+size 4469417
diff --git a/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/d5277120-ab84-4f2a-b493-9e3e4fac852e_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/d5277120-ab84-4f2a-b493-9e3e4fac852e_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..97562c142b016cad62b82419722e24bbb97b5b3e
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/d5277120-ab84-4f2a-b493-9e3e4fac852e_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03f07e7d215350a52c7087f9a0d70df7b8b3c6ce5881c0f852ac0117fa9dce47
+size 5212290
diff --git a/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/d9242117-365b-488f-81e2-bc15f27d46bf_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/d9242117-365b-488f-81e2-bc15f27d46bf_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..51f98c51f544e558249c892898ee65b5a97bae1c
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/d9242117-365b-488f-81e2-bc15f27d46bf_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff4d7daaec377816537f203280623848a4fd74d83d1de2900f1b8be8330e5cf7
+size 6768183
diff --git a/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/fdbf0ee0-9d98-4464-bebb-7eb52f8f33be_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/fdbf0ee0-9d98-4464-bebb-7eb52f8f33be_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..36ee7550297758241bb442f2411d4cc964c67726
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env/fdbf0ee0-9d98-4464-bebb-7eb52f8f33be_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ac53b8a60efc46638471f2e13ed2a2e6c8cdf1006859506dc383521d955598f
+size 5867970
diff --git a/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/014f6e7b-1dbc-46a8-90e8-6be7ffec8aaa_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/014f6e7b-1dbc-46a8-90e8-6be7ffec8aaa_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ab03761652b650ad6541170a6d367466fb18f3e
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/014f6e7b-1dbc-46a8-90e8-6be7ffec8aaa_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3834af07a7f47c649c3129419fc62c6451a580afbab6baea5c8f941e3ff423f
+size 4035707
diff --git a/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/109eed84-6bea-482e-b136-a49b4016cf4f_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/109eed84-6bea-482e-b136-a49b4016cf4f_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ae51675f8fb9ff3a938b43799b5614e1180fc5e
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/109eed84-6bea-482e-b136-a49b4016cf4f_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f45950c8b7179ed1cea8eae1d074987e55ecf04f4824813dd2bfc2721dccf689
+size 5574663
diff --git a/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/14a15bff-eeaa-415c-b186-23f0c838fe55_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/14a15bff-eeaa-415c-b186-23f0c838fe55_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f74db0274feb43c2fc03d38306ec0dbf6e267f8
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/14a15bff-eeaa-415c-b186-23f0c838fe55_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffd47275fb4f75bd2a30ee5ce4351efbf0832cc99684c4f9fa808d4ce5715bc4
+size 4384158
diff --git a/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/31e93a24-97a1-46ec-8c66-3d22cf578192_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/31e93a24-97a1-46ec-8c66-3d22cf578192_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4db570a7c0debc61d5b69091a9f774efe0ce94f1
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/31e93a24-97a1-46ec-8c66-3d22cf578192_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deef5e8a928f757d7836ce06dff08947ae113de85b3f860b85f62de9c890de44
+size 3913760
diff --git a/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/3452db4a-5093-41d9-80f6-e7862de35443_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/3452db4a-5093-41d9-80f6-e7862de35443_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4866587fe224d34cd6672d21fb8ed35ba9e79c30
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/3452db4a-5093-41d9-80f6-e7862de35443_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64b2afd304703ff96ba2c16cbef9cafda9ce45241b89feceb9900a47dd4ca6f5
+size 4411003
diff --git a/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/45a15205-a4b2-457e-a93e-1a04fb828f27_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/45a15205-a4b2-457e-a93e-1a04fb828f27_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3c06838822393b87862d75d715ec7ba017dafa1b
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/45a15205-a4b2-457e-a93e-1a04fb828f27_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed186bda3f3e50839774dbd046eb3df5a1f3fafe1a6be99a0f443f6110ba912e
+size 4217446
diff --git a/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/5f848a2c-fff7-41f3-85bf-407e04abed0b_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/5f848a2c-fff7-41f3-85bf-407e04abed0b_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..83c987fa70634bc34c3ca20545fdd0db3214d75d
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/5f848a2c-fff7-41f3-85bf-407e04abed0b_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:338ca3d8be48257472258e3c1febf38108acbabd24c7dcd3e36a26a089d1268b
+size 4376287
diff --git a/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/6b8b2d85-592d-4361-bf8c-c7cf88ffc3b4_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/6b8b2d85-592d-4361-bf8c-c7cf88ffc3b4_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..06b5c9259ef09cb06c6ed98bf6d8db378e7dcdc1
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/6b8b2d85-592d-4361-bf8c-c7cf88ffc3b4_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05640b04fea1629c2a6cd1cda936f6be0da21e656c06f6ea65d27972c9269c1b
+size 5281607
diff --git a/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/72654750-29bc-4257-80cf-75b66ecfc76d_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/72654750-29bc-4257-80cf-75b66ecfc76d_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4cbcce7b18e680affbc3e1205184b342a5d87488
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/72654750-29bc-4257-80cf-75b66ecfc76d_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85489859f73336351deca9c331a7fb0ca777c3856a2fb08b093eafd412d9872e
+size 5232204
diff --git a/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/881e2378-751e-450c-9fae-3199ed5f0841_success1.mp4 b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/881e2378-751e-450c-9fae-3199ed5f0841_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e2c2e3c549fad0e925c0cd2ad0052103032abd5c
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/881e2378-751e-450c-9fae-3199ed5f0841_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e707707f1de36b9f8d9e3be3b0ab57449685b3bf5922e73b9936076ccd7faa1
+size 4387147
diff --git a/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/93ab8e5b-e4cd-4fde-ac96-fb83440b49d7_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/93ab8e5b-e4cd-4fde-ac96-fb83440b49d7_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..84cfc12af5847c9f66e26454184e6db65d265955
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/93ab8e5b-e4cd-4fde-ac96-fb83440b49d7_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77c7536a2d3baf364c72e216976868babbb286281ef0bdd7c05d75efbd4c2be8
+size 4351207
diff --git a/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/97940ecc-fa6b-48ea-97b8-160bc560ca05_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/97940ecc-fa6b-48ea-97b8-160bc560ca05_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6837020420794078bf556fdde580d5d1f283a46b
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/97940ecc-fa6b-48ea-97b8-160bc560ca05_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13b5912c6f30de047ec6e58177e1987a54c21e71b3a145005c86a32e0d82bca2
+size 4016058
diff --git a/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/9e840e8f-81ee-49c7-a422-bd8c9534ee80_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/9e840e8f-81ee-49c7-a422-bd8c9534ee80_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1332d6694c6527142feb10fcc54f530311f63a9e
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/9e840e8f-81ee-49c7-a422-bd8c9534ee80_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1acb7171ddc46c18421678bdd3822d6f52208290b44222ffbc17b517cd2124c
+size 4285701
diff --git a/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c64e26f3-88ea-468f-a403-e73f64da90f3_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c64e26f3-88ea-468f-a403-e73f64da90f3_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ebe37379380cd46a30b0471b72b68504ce7dfd4c
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c64e26f3-88ea-468f-a403-e73f64da90f3_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14726f528abc161bcd0f1dd042687619bb04e363a0e9ee4049a89ecfdac9ef2a
+size 5360569
diff --git a/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c79e2b8e-a86b-4290-9b04-3644eddcb63b_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c79e2b8e-a86b-4290-9b04-3644eddcb63b_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee215057cc41fe60a8f68470b59c2ed3dbf5f457
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/c79e2b8e-a86b-4290-9b04-3644eddcb63b_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10dc66ae52b3465cca4e0ed8f7fc32bbce20969b4cbed8582c449d57e5544c9e
+size 5277249
diff --git a/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/da28df01-bf26-47c4-939b-6826243a5768_success1.mp4 b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/da28df01-bf26-47c4-939b-6826243a5768_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1ee163b2ef4d6c64bf92595cf60aed19dbf7d68d
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/da28df01-bf26-47c4-939b-6826243a5768_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d51f1674183f11244fc1278db18bcf8e6547369a06b2122dcb023cbcf70ce03a
+size 5109741
diff --git a/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/dd55924f-fb1f-40a3-9d6f-c3658d4cd1f3_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/dd55924f-fb1f-40a3-9d6f-c3658d4cd1f3_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cfc1f24001216fbad2a859357baaab1cf5a22290
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/dd55924f-fb1f-40a3-9d6f-c3658d4cd1f3_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b3fefbbaa17c147e6f1933719f59489b3a291850d8e1df08d035a8598b303da
+size 5382874
diff --git a/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e07e1660-ba3b-4605-b966-05efa272eff9_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e07e1660-ba3b-4605-b966-05efa272eff9_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..98fe1daf8769956a6faa9bd5c6d2e6889b504841
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/e07e1660-ba3b-4605-b966-05efa272eff9_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51bccb69867758cdd5682ef99c50b989fb634829415647619cc4a1d33669947e
+size 5496767
diff --git a/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/f34951ed-4b9c-4293-ba4d-452012f30d3e_success1.mp4 b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/f34951ed-4b9c-4293-ba4d-452012f30d3e_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..53066946611a5b9908d66bed0314e76a6fb51661
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/f34951ed-4b9c-4293-ba4d-452012f30d3e_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b604918c7099acc3a42ad6a55d2da9019ad76deaadbe51bf307ed15a5b5d08dd
+size 6564711
diff --git a/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/f95eece9-c806-4d27-b149-1ba1a3a2372e_success1.mp4 b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/f95eece9-c806-4d27-b149-1ba1a3a2372e_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..56756de3e06d467f59106374b54956d31bd78e58
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env/f95eece9-c806-4d27-b149-1ba1a3a2372e_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:742951c0f372befb980618ccec93f852b39469109281768deea8c2522d64ae00
+size 3849288
diff --git a/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/06b40cb5-ee2d-4291-831b-5e918a6d8ac5_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/06b40cb5-ee2d-4291-831b-5e918a6d8ac5_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1ea89a594c7c817eb236a205f57c12d782224fb1
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/06b40cb5-ee2d-4291-831b-5e918a6d8ac5_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4993bd9c6bfdb4a2fa6d0ce8a2162a4194a335cb545f156a9114f420e770f27
+size 3623148
diff --git a/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/082d2307-ca08-4dc1-ba2e-35c4fb1b53d9_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/082d2307-ca08-4dc1-ba2e-35c4fb1b53d9_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..38ab3f443ae4b9f8e7f2b616f30ba7ccc1a4b72f
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/082d2307-ca08-4dc1-ba2e-35c4fb1b53d9_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfd29b9a687bba10d185725aefd9ac3884ac095858f26dc33a7e93a0371cba68
+size 4373485
diff --git a/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1d15859c-d463-45e8-bd42-47d592b863c6_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1d15859c-d463-45e8-bd42-47d592b863c6_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e522ba8f693a5d3b6638b70276b932cf3e99c9d8
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1d15859c-d463-45e8-bd42-47d592b863c6_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c2393fe995efaa426a594743ced152e641f6ecd4e263ca6c98b6ca7648ffe30
+size 4709011
diff --git a/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1f5bbdc9-166c-496f-9b10-5fc42d5a6aec_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1f5bbdc9-166c-496f-9b10-5fc42d5a6aec_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2153d2d7b673f8b814a7e764806ecd89f498bfe
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1f5bbdc9-166c-496f-9b10-5fc42d5a6aec_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47b385766d8e7bc0f42efb278b1c2aa9943469421e577c24ee3825323d9c6cb8
+size 4711554
diff --git a/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/235962c1-5bca-4181-bc37-f3b1b8b5cfe4_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/235962c1-5bca-4181-bc37-f3b1b8b5cfe4_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7beb8376daa832bdd6d1fb6480b2e13a2dddc35
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/235962c1-5bca-4181-bc37-f3b1b8b5cfe4_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecc078117c1573675246296fe5fff2b38822208c5969d1ef7c648b7b64ec4eeb
+size 4289073
diff --git a/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/44ab2733-e9ff-49f7-bf18-a801223b2e8c_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/44ab2733-e9ff-49f7-bf18-a801223b2e8c_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..76006370e4195e9b5dc93d665abf3bbd61e4f8bc
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/44ab2733-e9ff-49f7-bf18-a801223b2e8c_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cdc9ec68cd0e1dc77dab63584bc8064c0834b7b2c6e7d7a53de1dbf653bd638
+size 5123086
diff --git a/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/47ce4717-45e4-4947-8c0f-d8fa4397137f_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/47ce4717-45e4-4947-8c0f-d8fa4397137f_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba5123503dcb2bfbe835804911ec525a350fa532
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/47ce4717-45e4-4947-8c0f-d8fa4397137f_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c064b6b9fc4faa1853e5524ba7df449adc9398cf3a8d4be631a188d1368d41a
+size 3878271
diff --git a/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/53fcf7e4-1f6f-45d4-a0e6-fbdb353ec4a6_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/53fcf7e4-1f6f-45d4-a0e6-fbdb353ec4a6_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b55fa014373600e9725b436ec1f20c90ef86635e
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/53fcf7e4-1f6f-45d4-a0e6-fbdb353ec4a6_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a06d25de07f5afac36df8a9bdda4affb77f96e70d04000dfa7c9732106c0c40d
+size 3876232
diff --git a/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/7844fbe1-c3e1-4172-867c-d9ccb4d35cb9_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/7844fbe1-c3e1-4172-867c-d9ccb4d35cb9_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7beeead4f1defe40b88611214f775e10ea5f5cb1
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/7844fbe1-c3e1-4172-867c-d9ccb4d35cb9_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1964fef0c67b01e5b1725ed85f35568085ff72d6726551a883f8767a9fcda38f
+size 5075365
diff --git a/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/8582b6c7-6a3c-4085-af21-5f1afde6b458_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/8582b6c7-6a3c-4085-af21-5f1afde6b458_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ecbdc6f5008facb038a1d4e3409af3c0b75d7c63
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/8582b6c7-6a3c-4085-af21-5f1afde6b458_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:850833cdf9c49ffd865b54d8b9c12b70784f83aa7b535a6371c49fde04dca8de
+size 5811243
diff --git a/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/928ce505-4ab5-456c-812c-280b60870c0e_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/928ce505-4ab5-456c-812c-280b60870c0e_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6f3560a302c4d973c692e0d14cd2239d47051a2b
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/928ce505-4ab5-456c-812c-280b60870c0e_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5ffe2dab584fe719628b545a73e48e6623a7b19143ffb8a1ea7a3cd4af865cc
+size 5012827
diff --git a/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/a34ca605-8f82-4f96-8ecf-be0f11b5700e_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/a34ca605-8f82-4f96-8ecf-be0f11b5700e_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a1a90406a94223a83c9656f51e9225ff3311f1b
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/a34ca605-8f82-4f96-8ecf-be0f11b5700e_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91aeb35ca66fa900889f674948a83a1fc188e9219fea678bf9a0e8b9374895bb
+size 4646762
diff --git a/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/ab320edd-34fa-4316-b5be-88b56fdbdd38_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/ab320edd-34fa-4316-b5be-88b56fdbdd38_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02a3792f401f34377b262de11d7dfc877d1abaa5
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/ab320edd-34fa-4316-b5be-88b56fdbdd38_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3165db2e4bb30551a71e2a82ef785b74320b1720a3d376faf29721b207a06fa9
+size 5449651
diff --git a/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/afb5d8a3-1ec0-4629-b687-431dd46def46_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/afb5d8a3-1ec0-4629-b687-431dd46def46_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c95449c20ac4224e88d6b961df1fa29fb9acb2cd
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/afb5d8a3-1ec0-4629-b687-431dd46def46_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9c70042263fa2dc561bf1834655eea2181eea34a9f4f4361a17e84dd3a3cb08
+size 5280871
diff --git a/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b19e849f-6cc2-4924-98a5-24dd68279edb_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b19e849f-6cc2-4924-98a5-24dd68279edb_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b6f7ecbd2f1a191a06718f93a5f01803049d4bb
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b19e849f-6cc2-4924-98a5-24dd68279edb_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:163402a8ba675be8365e76e5217304bdd2ab867125fa3c9ec74cf693e6f13712
+size 5410379
diff --git a/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b3b15da7-e6aa-4e3f-a131-23d5674c47ff_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b3b15da7-e6aa-4e3f-a131-23d5674c47ff_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a0e138efaf1be8aed14c2c45568a8bd16b73c3a
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b3b15da7-e6aa-4e3f-a131-23d5674c47ff_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb1043fdccaa9c10f11e5481990a76ccafd616b0070e2e589083b01005ebb01a
+size 6421921
diff --git a/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b4c592cc-c9d8-46c5-8d78-dfe0bd516270_success1.mp4 b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b4c592cc-c9d8-46c5-8d78-dfe0bd516270_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af55ddcb93e39f04255e3ee1b3ba1ad53b325bd4
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b4c592cc-c9d8-46c5-8d78-dfe0bd516270_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1481f78b38be66b19fbfab0e1c1b9634227b5e2f5e5ecbae26f9d4228e1d673e
+size 4074498
diff --git a/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/d1afb305-8aa7-4add-bc56-d6683f8aa5f8_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/d1afb305-8aa7-4add-bc56-d6683f8aa5f8_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..988f817f606e9fe7e26f494c2a49f44023659a33
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/d1afb305-8aa7-4add-bc56-d6683f8aa5f8_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ae987bfbfcb51229ac68dd28bba2fe80429fab0b87c6ac9979c4c04d6dac569
+size 5465493
diff --git a/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/d485183d-a4a7-429f-bd65-914fb38c6fd9_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/d485183d-a4a7-429f-bd65-914fb38c6fd9_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e280008681bb0fba63e25bf9c81f00c7a049ec9c
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/d485183d-a4a7-429f-bd65-914fb38c6fd9_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f42406fa266754e09534c3d203579515919eaeb54b422a490d2cec6aa58aec2
+size 7605998
diff --git a/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/f4b4c8fe-b663-4040-82e0-9caf412b2148_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/f4b4c8fe-b663-4040-82e0-9caf412b2148_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f2a739c12d9d1965253d7043c7255c4235471ce8
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/f4b4c8fe-b663-4040-82e0-9caf412b2148_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef47a3d18837dae7ccfe221de6fa02beabb6ba16f3fe0a5d0806503de3eca813
+size 4791292
diff --git a/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/02217d42-e200-40fe-8047-d01a64085127_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/02217d42-e200-40fe-8047-d01a64085127_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7477836759ebc3fd99c79b33f88ead3288be0a9c
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/02217d42-e200-40fe-8047-d01a64085127_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2c6423e533219f0fa152974589686359dc2492170742067e5f066040feb663c
+size 4292126
diff --git a/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/02f711e5-a2c2-4f96-be65-2b22cec68a52_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/02f711e5-a2c2-4f96-be65-2b22cec68a52_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95c4a2923239be38a2719c40b36774fc078e4390
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/02f711e5-a2c2-4f96-be65-2b22cec68a52_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:519ce7e33a69837b6ad6b845a94b59404ec0cd222bf106acf4b225e92512ab00
+size 4588352
diff --git a/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1d4327c3-5ea1-4ebb-9ff1-9a5302874367_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1d4327c3-5ea1-4ebb-9ff1-9a5302874367_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b2d579efafd72d5ed2a5ba5afadf30aae6bfc49
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/1d4327c3-5ea1-4ebb-9ff1-9a5302874367_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62506ea7f19d1535da70ccf128ddcad918220545ae89db7900f4585c42e22c54
+size 7483957
diff --git a/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/35f0818f-75c9-4961-85d9-e9f9f97d3a3d_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/35f0818f-75c9-4961-85d9-e9f9f97d3a3d_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b8222acbfa4682ea8e41a6c7d82de7ccf66ec125
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/35f0818f-75c9-4961-85d9-e9f9f97d3a3d_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb8b5aecf9267bad63086698b723f67d1d8542bcbf071ea5e60598efcf193545
+size 6118928
diff --git a/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/42f2d2e0-0ef7-4895-a220-0a71bc77121d_success1.mp4 b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/42f2d2e0-0ef7-4895-a220-0a71bc77121d_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6973289f6a7d1c12f40cea285ab232f72748f86e
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/42f2d2e0-0ef7-4895-a220-0a71bc77121d_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3858e26fe42fd4276d9b7d77972c73a8e6d66b0a1e71ce011ad7c96e69ffcb38
+size 4477788
diff --git a/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/49c9c59b-3d56-4b49-bd23-de105e4e8c0a_success1.mp4 b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/49c9c59b-3d56-4b49-bd23-de105e4e8c0a_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb1105bd16fb78aa36814d5d0aa745788d7b92d0
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/49c9c59b-3d56-4b49-bd23-de105e4e8c0a_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34219fda5855d1aa4d763a22b0280ecef8db977af823d671e63df17cf86570d1
+size 5930755
diff --git a/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/5746caa4-96f4-47e5-b93c-ff3bd482dc64_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/5746caa4-96f4-47e5-b93c-ff3bd482dc64_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..32ae7032059677eda089f47cd71fef4cfb141e20
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/5746caa4-96f4-47e5-b93c-ff3bd482dc64_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28523f263fb234f97fe0bcaeb528e083f1716d1a5ed85763655b5d4006c59a82
+size 3899379
diff --git a/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/69a40e50-bc93-4b16-9dfa-9376bdd9e597_success1.mp4 b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/69a40e50-bc93-4b16-9dfa-9376bdd9e597_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ab2221cee843c2cab0c617146a24ad7919c13506
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/69a40e50-bc93-4b16-9dfa-9376bdd9e597_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3c49210c5be1af606d2d9ca4405747360ceb9783bd11375f7bb8426d2112c63
+size 3894257
diff --git a/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/72a483d5-9777-411e-b54b-86ec2f79cd40_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/72a483d5-9777-411e-b54b-86ec2f79cd40_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e6caa55c6924719b38d2bfa84faf4b6b88fb223f
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/72a483d5-9777-411e-b54b-86ec2f79cd40_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76dfb304f2ef62246f0f1f643e6175d74be559635af70179b70923aaf3b095fb
+size 5826412
diff --git a/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/7885c230-05f1-4d68-89b5-7118862e1674_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/7885c230-05f1-4d68-89b5-7118862e1674_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..27e21854d391dfbe95b22c7cef1bcea1f266395f
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/7885c230-05f1-4d68-89b5-7118862e1674_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc2a2fadcf1e9e2aa6e8b4cb92f40f1e156a0b0a710c9da11d6a5f720fa99019
+size 4387402
diff --git a/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/7c4c0f42-7cb0-48e9-80ac-cf7af6d20d64_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/7c4c0f42-7cb0-48e9-80ac-cf7af6d20d64_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..23c38a257780fa25fe823df9bb38152371361f87
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/7c4c0f42-7cb0-48e9-80ac-cf7af6d20d64_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43e49197923fd4b415f06137c65dffc47d9f2a2a8913885ce9aea1a55057c7e5
+size 5627799
diff --git a/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/8660ebb7-3523-41de-b5bd-e4619845e44e_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/8660ebb7-3523-41de-b5bd-e4619845e44e_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..35224cd11327b6960f07ba7aacdbbae139f69337
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/8660ebb7-3523-41de-b5bd-e4619845e44e_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c18c75ececbcacae8448f4dab832f646eb0f7eb9a9d26d36d24aca968142416
+size 5512529
diff --git a/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/9829903c-54f2-462d-abb4-e275e8dba4dc_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/9829903c-54f2-462d-abb4-e275e8dba4dc_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae4454d9ca8a1002563fc36b662ad0da9d955f01
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/9829903c-54f2-462d-abb4-e275e8dba4dc_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92d9582aff9cc7874d4f8b0ca7639055c8799e92e6c673b5336ed42d77c6187f
+size 6040053
diff --git a/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b0c817c6-ae54-4d71-8043-d60a196155ea_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b0c817c6-ae54-4d71-8043-d60a196155ea_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6d348ea5dc969b1ee6fb8892838728200de5cec9
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/b0c817c6-ae54-4d71-8043-d60a196155ea_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d41cbb1e5a846bd724253c405269fe47638138dbf572729d97fec6506d6f20ec
+size 3884719
diff --git a/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/bb9317a8-f3dc-49ca-a12b-f63c263ed282_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/bb9317a8-f3dc-49ca-a12b-f63c263ed282_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b358f723230280e9f8570de8e47acd5bba4263ac
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/bb9317a8-f3dc-49ca-a12b-f63c263ed282_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efbcaa6d7fd40fdba3bb71f65e4e367424339e256064fa4f221f8af0d2a2dca7
+size 3765882
diff --git a/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c6a94326-d23d-4a3d-a5b1-d8102cf12550_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c6a94326-d23d-4a3d-a5b1-d8102cf12550_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..450549a0a99e4456b59d46be04f660011bd94de1
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/c6a94326-d23d-4a3d-a5b1-d8102cf12550_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da58f25399545c3d69c7067dd873e73cef228b139316cbfdc1bff40d40750b66
+size 5504473
diff --git a/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/d0f5f57d-f2e2-4269-ab02-a980e201da37_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/d0f5f57d-f2e2-4269-ab02-a980e201da37_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5323bcd38bdc7b36164a6f0c1f35aa58eabc8410
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/d0f5f57d-f2e2-4269-ab02-a980e201da37_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76ec2fd6f5b7ba4f16038358bad7cc2f593b050c103656b14af3c3262e180fe2
+size 5029374
diff --git a/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/d7693d6b-ffec-4381-97cc-ab15f6bb394b_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/d7693d6b-ffec-4381-97cc-ab15f6bb394b_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3eb256499ee742ff3b3a04adaf286b123471e84f
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/d7693d6b-ffec-4381-97cc-ab15f6bb394b_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eca13e1b23e9401e58e24e4db8629dce40b4dc88bc8239abe6adde0e76f53913
+size 7596820
diff --git a/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/e0a59a4f-d48a-4868-b77d-7fe070227e8e_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/e0a59a4f-d48a-4868-b77d-7fe070227e8e_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..36f9534d01f04c2752a7d3fe31c8881271652dd5
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/e0a59a4f-d48a-4868-b77d-7fe070227e8e_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7af72c8a9f5a68421967943d405b7e93b9721aeba288149c233000411fb7a82f
+size 6889164
diff --git a/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/e5db4d8f-f04e-4dba-9a85-b8c72a6e8177_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/e5db4d8f-f04e-4dba-9a85-b8c72a6e8177_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91195971550a0b83790b6eab491f82458b67ba57
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env/e5db4d8f-f04e-4dba-9a85-b8c72a6e8177_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de2280d13f8dafeef6f55dc2c2b822f0957ffa2993ee6aac7e8893b9a2d250c7
+size 6368639
diff --git a/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/24d5c668-a68a-4477-a537-453d923c9245_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/24d5c668-a68a-4477-a537-453d923c9245_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0113159ee2329ae2a27287dcfde8ac638233b2ab
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/24d5c668-a68a-4477-a537-453d923c9245_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:434a45b7e8eae6f056c034da6a650022fe68b95c9f4d042631cb08426717b851
+size 4385606
diff --git a/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/27c45205-9393-4c19-bc9b-8c532190902d_success1.mp4 b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/27c45205-9393-4c19-bc9b-8c532190902d_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3f26349786ad84d7c931391ddf16d5481b4c0e7
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/27c45205-9393-4c19-bc9b-8c532190902d_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d70944afa86d6acec3fab8acc84bf2895948d70d89aeb516388226c504ad01c4
+size 4513008
diff --git a/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/2f65e217-e89d-4b02-b315-c125219cd202_success1.mp4 b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/2f65e217-e89d-4b02-b315-c125219cd202_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1be5bf2ed226a2da17527db5fdb5e7f8c568285d
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/2f65e217-e89d-4b02-b315-c125219cd202_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31aa7d2e3beeafe4963695a23266ed414185906f367ea7e84c0bc836d742d001
+size 2295204
diff --git a/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/34c4ef4a-533f-4d2c-ba3b-c1e26e6997ca_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/34c4ef4a-533f-4d2c-ba3b-c1e26e6997ca_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d127115db82ce8015151b7baff08a24cfdd3b8d9
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/34c4ef4a-533f-4d2c-ba3b-c1e26e6997ca_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:842dd7b20088abbd787dac243ba40ba5b907eb6504acdc20dbf19b1f0793a26f
+size 4009168
diff --git a/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3ce79288-f997-41b1-84a8-0f25b7d1ffe5_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3ce79288-f997-41b1-84a8-0f25b7d1ffe5_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..decf5b80c22690dfc74373f5e99d9d8c710c395f
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/3ce79288-f997-41b1-84a8-0f25b7d1ffe5_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2fdc9df647ea8c1465f2c1c42cc69c540357e845404a1449a283b52b0914d82
+size 4150297
diff --git a/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/427b675f-f970-464a-bbd0-fa86987a3cc3_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/427b675f-f970-464a-bbd0-fa86987a3cc3_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..56853c3f45d807e152c4a1c11900927527d54a44
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/427b675f-f970-464a-bbd0-fa86987a3cc3_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5197df33e8ca94c1d3be48fe626100c4385272f1d84a48ff0a217617bf1270bd
+size 3711857
diff --git a/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/65cb4cc3-8b0d-4280-9b3d-079d9cd060f3_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/65cb4cc3-8b0d-4280-9b3d-079d9cd060f3_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4bb965521626f285293e383dd9488ceab6fd5af8
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/65cb4cc3-8b0d-4280-9b3d-079d9cd060f3_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04df1d5d3768358c5d3da716e0bf0a582429db1c13f5c61471f3ec2a1f630934
+size 2759759
diff --git a/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/718614af-e87a-4c0d-85e3-9da1e7517e77_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/718614af-e87a-4c0d-85e3-9da1e7517e77_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..81ff13fd245a872dfc8b4279e852e5cad297257d
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/718614af-e87a-4c0d-85e3-9da1e7517e77_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9061a064f924baa97b29a6fc23be88947b152c126724b0a2af4033a8d272a591
+size 2438481
diff --git a/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/75359158-3af9-4b5b-bf60-c6577f536eb9_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/75359158-3af9-4b5b-bf60-c6577f536eb9_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..473340877747f308ee09c97e5ed59626bed3f09e
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/75359158-3af9-4b5b-bf60-c6577f536eb9_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42579678e26e4e37ed652f7a62f2cb32c60629baa6ab37b4925cb694ad94a432
+size 5372354
diff --git a/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/87dfa0b1-2c97-4505-891b-397b59335870_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/87dfa0b1-2c97-4505-891b-397b59335870_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..568c30f41ce898e0bb7d3b7e01e2123faf013686
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/87dfa0b1-2c97-4505-891b-397b59335870_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac05276d4d24574cef50cd884ae0cf23eb2354283ffa08b2426fb5748bde7d6a
+size 4964187
diff --git a/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/89b14feb-7292-4411-a6e5-f44d980c2b7f_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/89b14feb-7292-4411-a6e5-f44d980c2b7f_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c2f777d44f4f9099f6ac4f995789a736a2e756d4
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/89b14feb-7292-4411-a6e5-f44d980c2b7f_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b425b304b4868b53d85a40b5a068eb814cb1ac8f22ed0e1051b62f1a666e646f
+size 3354854
diff --git a/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/8ef5fc8a-d114-4159-af1a-bebb893d8cab_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/8ef5fc8a-d114-4159-af1a-bebb893d8cab_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b2ca932ba3ddfb894ed701abfbe1ddf8fe6b3146
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/8ef5fc8a-d114-4159-af1a-bebb893d8cab_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f397e322353037ff1050de7e96de19adba466e20d5d392ecad995ed673f2c355
+size 2266545
diff --git a/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/9641f10d-e8c7-47e2-aaa7-dde6cd57ec81_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/9641f10d-e8c7-47e2-aaa7-dde6cd57ec81_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..28ef886f506f819d5c088e09dc9dd47c53d53e62
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/9641f10d-e8c7-47e2-aaa7-dde6cd57ec81_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd78babfa4547d12af0ef036f5ff4a27269442990d554ed791ee1f33f52f85e7
+size 3102350
diff --git a/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/a0f2e027-6907-4ca0-bcc7-f207d4716fc7_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/a0f2e027-6907-4ca0-bcc7-f207d4716fc7_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82d4ceb2ecb83195c8157a6141ee25c11cfa4790
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/a0f2e027-6907-4ca0-bcc7-f207d4716fc7_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed823364c6cbfa7abe0f2ad2fed99d0b9b111b9b479531f8180eb68cf4755fda
+size 2555390
diff --git a/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/a266cd9a-816d-496f-a8fe-54408b8c4aa4_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/a266cd9a-816d-496f-a8fe-54408b8c4aa4_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b7cd5409cb8c4df2d7d430884f75023ef950459a
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/a266cd9a-816d-496f-a8fe-54408b8c4aa4_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d03df3811b4b7670ae7bd535918cced615898a6b974bb9cbd78d525b32e752fa
+size 3315582
diff --git a/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/afe0c1b3-ac6e-42ca-bb79-a1432c2e2412_success1.mp4 b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/afe0c1b3-ac6e-42ca-bb79-a1432c2e2412_success1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6e20115274b040709d96621a5c4ad38d252cd6c0
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/afe0c1b3-ac6e-42ca-bb79-a1432c2e2412_success1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e7b23e8b69ae51f3ee80a0019e12ee502fad0156e3a4bd40a0aa34f7bdc2ee9
+size 3031989
diff --git a/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c79dad89-3531-454f-bafa-f8942a79aa63_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c79dad89-3531-454f-bafa-f8942a79aa63_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6767abd240b6c8a458f5734bbdc7f399ccff3e06
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/c79dad89-3531-454f-bafa-f8942a79aa63_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5534b9fce74813c1ec84e67eca8a6ea313cce14224fe287ecb187ea19805448
+size 3786270
diff --git a/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/cd884a5d-cc11-44b0-bde5-4e6736e9e94b_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/cd884a5d-cc11-44b0-bde5-4e6736e9e94b_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46de228c44d6f2324285ec25f3a4e3a44a0cc456
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/cd884a5d-cc11-44b0-bde5-4e6736e9e94b_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d885e16176b1c353dbbe7549d8936140c3da9ee8fa18e21ef57184f1a6d2fe2c
+size 3198044
diff --git a/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/def48809-177d-4b15-9fdf-befcc0d2f8ed_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/def48809-177d-4b15-9fdf-befcc0d2f8ed_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..383650ead69fefeee4244e488579b58112d58ccc
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/def48809-177d-4b15-9fdf-befcc0d2f8ed_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5b6bfaa29295c60e89f07182182ab657f61e9fa6e138bfd5db11fd1b77859a1
+size 2899685
diff --git a/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ef1eb5f6-1dea-485c-9aac-a9544907ec63_success0.mp4 b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ef1eb5f6-1dea-485c-9aac-a9544907ec63_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2119b654fb1242605dcffeb58d3dfc2c0f9cfade
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env/ef1eb5f6-1dea-485c-9aac-a9544907ec63_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:090de7bb8a32d3d25ce97f34b669e6443f4ca45090bc7e139e17d30fa9c16590
+size 2900519
diff --git a/v2/__eval_r3/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt b/v2/__eval_r3/gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..02b703888bcb813a72a14224e9cd438fdb2d9838
--- /dev/null
+++ b/v2/__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] 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 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 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.")
+/mnt/data/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 193.95 seconds
+Results for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.25
diff --git a/v2/__eval_r3/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt b/v2/__eval_r3/gr1_unified_PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..efc6e28d91ecac09a8cfa2917fbe0f317ff257c1
--- /dev/null
+++ b/v2/__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] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Collecting 20 episodes took 188.00 seconds
+Results for gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.25
diff --git a/v2/__eval_r3/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt b/v2/__eval_r3/gr1_unified_PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bb2a32713c672b5d3208a75eeb725f7445f75834
--- /dev/null
+++ b/v2/__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 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)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 `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 191.56 seconds
+Results for gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.20
diff --git a/v2/__eval_r3/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt b/v2/__eval_r3/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..848e439a4d657433489fd08a4982a79adbff5b73
--- /dev/null
+++ b/v2/__eval_r3/gr1_unified_PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
@@ -0,0 +1,186 @@
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robocasa-gr1-tabletop-tasks/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+[robosuite INFO] Loading controller configuration from: /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/controllers/config/robots/default_gr1.json (composite_controller_factory.py:121)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Available modality configs:
+dict_keys(['video', 'state', 'action', 'language'])
+Running simulation for gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env...
+Running 20 episodes for gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env with 5 environments
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/mnt/data/data_nhat/miniforge3/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /mnt/data/data_nhat/ROBOCASA/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] 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] 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)
+/mnt/data/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.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 205.40 seconds
+Results for gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.05
diff --git a/v2/__eval_r3/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt b/v2/__eval_r3/gr1_unified_PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..80f8edbd56e07aa9a3986852f6b38c08f3f38355
--- /dev/null
+++ b/v2/__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] 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.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 196.38 seconds
+Results for gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.15
diff --git a/v2/__eval_r3/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt b/v2/__eval_r3/gr1_unified_PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b34a5e7623b6969902a2e54c61403d8fdf95a2e5
--- /dev/null
+++ b/v2/__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] 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.")
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
+[robosuite WARNING] The config has defined for the controller "legs", but the robot does not 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 193.74 seconds
+Results for gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.20